A show mostly created for the youth is not related to sexual or even just erotic aspects, as such the "behind the scenes" facts are not really important for anyone. On the side of story development it keeps to "pet" or "friend" relationships from what I know.
Just because Beast Boy has the ability to turn into animals does not necessarily mean he is into them. Also, as far as I am aware, he's always had a thing for Raven, and I think their relationship is canon at this point.