Your house, if you want shoes off that's up to you but you can't expect people to know this is what you want just because there is a shoe rack near the door. Polite reminders or a little sign would be what I'd expect if going to someone's house. But as mentioned be mindful that some people really don't like having their feet out.
It's funny noticing the different opinions on this thread. So just because it's normal and polite for you doesn't mean it's not gross weird or rude to others.