It makes sense, to have dry clean feet. Being a lover of earthing, i usually walk barefoot.

I've always taken them off when I get in unless I'm about to go back out, or we're still shuffling around after getting in, trying to move around a grocery cart in the way or something. That's generally been the expectation I was raised with, although my mom doesn't enforce it, and most of her non-family guests choose to leave their shoes on, even if they're staying. Doesn't really matter to me as long as they keep them off the furniture, or decide to take them off elsewhere in the house where they'll be in the way and tripped over. Then again, I'm not the one doing the cleaning. If I had my own place, I'd expect people to take them off if they were staying.

Removing choes at the door saves a lot of cleaning.

my dogs don't take their paws off

I was raised that it was disrespectful to wear your shoes in someone's home, so I always take mine off.