According to the Guardian, Baldasaro is "known as one of the most conservative—and controversial" members of the New Hampshire's 400-member House of Representatives. Baldasaro led the fight against same-sex marriage in New Hampshire. As of 2016, Baldasaro was serving his fifth term in the House.
In the 2012 Republican presidential primaries, Baldasaro supported Texas Governor Rick Perry. At a Republican primary presidential debate in 2011, the audience booed and jeered a gay Marine who had submitted a debate question about the "don't ask, don't tell" policy. When asked about the incident, Baldasaro said that he was "disgusted" by the Marine and said: "I thought the audience, when they booed the marine, I thought it was great." Baldasaro, who was criticized for the remarks by the Nashua Telegraph, defended his comments in the media, stating that it is against Department of Defense regulations to wear a PT uniform at a partisan event.
In late December 2015, in response to a Facebook post made by Democratic State Representative Amanda Bouldin's supporting breastfeeding in public and opposing a New Hampshire bill that would criminalize the exposure of women's nipples or breasts in public, Baldasaro wrote on his Facebook page, "Amanda, no disrespect, but your nipple would be the last one I would want to see. You want to turn our family beaches into a pervert show." Baldasaro refused to apologize or retract his remarks. The incident prompted Republican House speaker Shawn Jasper to ask state Representatives "to act with dignity, to act with respect" in his remarks the following month at the opening of the 2016 legislative session.