How far should freedom of assembly extend when the assembly is offensive or hateful?

In colonial times, the British sought to prevent assembly and demonstration as a means to suppress an uprising. Understandably, then, the founders wanted to preserve the ability to demonstrate and associate with people and political causes. In modern times, this may lead to controversy, as groups like the Westboro Baptist Church or Ku Klux Klan assemble to promote contentious messages in public areas. How far should freedom of assembly extend when the assembly is offensive or hateful? How would you feel if one of those groups protested in front of your home?