In NYC, god knows what ends up on the bottom of ones' shoes. So ours come off at the door. Inside shoes or sneakers go on if we want to wear them - I always do because I spend so much time in the kitchen. Sig Eater - not necessarily.
Now, back when we were able to host people, I thought I'd do something fun - so I bought like 10 pairs of slippers (all on sale at LL Bean or Land's End or somewhere) in different sizes. That way, I could ask guests to remove their disgusting shoes and put on fresh, clean slippers while in attendance. I ended up donating all those slippers, as I decided it was a stupid idea and I also had no place to keep the 10 pairs of slippers once they got here.
And instead, telling people when they're invited to wear nice socks, as their shoes are coming off when they arrive.