This is one of those things that may well have varied quite a bit both over time (since "middle ages" is a pretty wide time frame) and region. I wrote a fairly detailed post about the executioners profession in Sweden a while back. You can find it here. Also a TL;DR would be:

Was being an executioner in the middle ages considered creepy and socially unacceptable? A respectable blue-collar profession? Or even a prestigious, high-ranking one?

Yes, it was a low status job and the office of the executioner often handled all the really nasty jobs of medieval city life, like burying suicide victims, disposal of animal caracasses and transportation of human refuse. (exact responsibilities vary)

Hi, not discouraging new responses here, but FYI there have been a few very interesting threads on executioners which are worth checking out.

Start at this thread Was being executioner/headman in medival ages fulltime job? What were the usual duties of someone who held such position apart from performing executions?, and click the links at the bottom for more