Are there degrees of stuttering?

Are there degrees of stuttering? I normally do not stutter when speaking to my parents, wheter be it because these are calmer situations or because i'm used to speaking to them. I also do not stutter when i have brief and direct dialogues with strangers on the street or when i have slower conversations in tranquil situations. I do, however, start stuttering when i'm talking with my friends, normally to initiate a phrase, but that happens only when i'm nervous or have to formulate more complex phrases or ideias. So, do i have mild stuttering or is it normal to struggle with that? ​