The worldline must be timelike everywhere, or else proper time is not defined for it (equivalent to Dale's comment about mass).
The value of ##c## is just a choice of ratio between units of timelike and spacelike displacements, so is unimportant. It's similar to putting a meter rule and a yardstick end to end - the total length is the sum of the components' lengths regardless of the units I used to specify them. Experienced people convert units without prompting - inserting ##c## as needed is just a novel example of something you would take in stride in other contexts.
Otherwise, if I were being precise I'd say that ##d\tau=\sqrt{|ds^2|}##. I think that saying that proper time is the length of a worldline is an imprecise analogy. I use it either with people who don't understand Minkowski geometry at all (B-level twin paradox threads) or with people who understand it well enough to know I'm being sloppy and will insert modulus signs as needed. Either way I'd probably scare-quote it.