Yes, Yes, and more Yes! Use them. So what if someone spills on them or they fade? Those spills are memories of good times and happiness - unless you make a "federal case" out of them!
I use the quilt that my Grandmother made - actually she made the top - my mom inherited it and stuck it in a drawer for 40 years. When cleaning out her room, with her watching every move I made, I discovered it and she told me she inherited it and didn't know what to do with it. I said, "I'll take it!"
I knew nothing about quilting at the time. Didn't want to let it out of my sight, so I rented time on a long arm, and about 3 hours later, it was quilted. Now I know I did a terrible job of the quilting, but right then I was so proud to have done it - and still am. Even with my terrible quilting, it looks better on the bed than it did stuffed in a drawer!
The quilt is used by my 'grands' when they come over. My niece and I pick our favorite fabrics from it - it's a scrappy lemoyne star. The grand boys all liked hearing the quilts story and use it, too.
So use the quilts and make some memories. If you don't, then someone else will but you won't be there to enjoy them.