I generally take my shoes off just inside the front door but that is more about me preferring to have barefeet wherever I am. I certainly don't enforce it though. If I'm wearing laced up or buckled up shoes and forget something and need to run back into the house there is no way I am taking my shoes off so I don't see any point making others do it. Plus we run around on the front and back lawn in bare feet (our dog pees out the back and other dogs pee out the front). Meh.
In other peoples homes I am happy to take their lead. I had never thought about the fact that some people are very uncomfortable having their feet exposed around others but I can see how awkward that could be going into no shoes houses.