I'll take off my shoes at the door only if they're muddy or really soaking wet, but usually when I get home I just leave my shoes on. I take shoes off only when I'm getting ready for bed.
On the other foot...
I have nothing against barefoot. When I get up in the morning I usually go around the house barefoot until I'm ready to leave and go somewhere. I think it is more a matter of convenience (or maybe laziness) than anything else.
At others' homes I'm willing to follow their customary practice.
Lindy