They all called him "Grandpa", because it is just a cute nickname.
But if you look closely at all the episodes, he is not once ever referred to as "Grandpa Munster", only "Grandpa".
The only time he is ever referred to as "Grandpa Munster", is in the 1965 "At home with the Munsters" LP. (Sound clip below)
On different occasions, he is refferred to as "The Count" (in Pike's Pique), "Count Dracula" (in The Musician), and "Sam Dracula" (in Grandpa's Lost Wife).
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