"He's not seeing me without my clothes unless I allow him" relies on the existence of clothes. There are none. There is no such thing as nakedness here. You can't have nakedness without clothing, and there isn't any in the telepath's world. What you're actually saying is "he's not getting to see how tall I am unless I allow him."
Which works over the internet. One supposes the solution would be to keep all friendships with telepaths to the long-distance online/correspondence variety.