Yes i have, and Janet Jackson is one of the most sexual artist ever; i don't know what the fuck you've been listening to and same for Madonna. lol at you calling the Velvet Rope conscious, that album is sexual as fuck and same for Madonna, every now and then they will push the envelope but that wasn't until later on in their careers; Beyonce is only 3 albums deep. People need to stop acting her whole albums is on some Single Ladies shit too because it's not, she has songs with substance (flaws and all, etc) but because she doesn't push that bs Winnie Mandella image people pigeonhole her. Yall wouldn't judge Marvin Gaye based off of songs like Sexual Healing, Lets get it on, and say all he was is a sexual artist; there is more to the artist if you go beyond the singles.
A great majority of Janet, Madonna, Whitney Houston, Mariah Carrey, Diana "disco" Ross,etc shit is pop stuff too if you're gonna paint all artist with a broad stroke.