I enjoy the identity of queer. I called myself straight until my wife transitioned, but now we share the identity of queer. Straight just doesn't describe me anymore. Queer, as different or other is what I embrace as the umbrella that shelters those who choose to stand under it. I find it to be a friendly term that wants to be inclusive of all who are not straight.
True, it has the connotation from past usage of homosexual, but words change over time.
Straight people often don't use the word queer as a replacement for LGBT, they use the word gay. They do not mean any harm. As I said to a straight friend of mine on Facebook who posted that he wanted to express his support for all gay people: I'd rather be lumped and loved that separated and hated.
The more we own and use the word queer and express our pride, the more the straight world will begin to care about what that might mean.