Ok, I know to some people this may seem odd and in fairness when I was a child we didn't do this because my parents never made a fuss. It wasn't until I moved to Canada, where taking off your shoes as you go through the door is the norm, that I now see this as normal.
We always take our shoes off in the cloakroom and put indoor shoes/slippers on. Outdoor shoes all over my floors and carpets really irks me and it's even worse right now with a crawling baby.
A friend came over with her two kids the other day and as they came into the cloakroom my boys took their shoes off automatically as did I, and I politely said to her two "shoes off please, we don't wear outdoors shoes in the house" and the kids, quite happily took them off. My friend however, did not and just came into the house still wearing these clunky, awfully dirty looking boot-type things. This was obviously despite having seen the rest of us take them off and leave them in the porch.
I didn't like it but didn't know what else to say, so I said nothing.
AIBU to expect people to take off outdoor shoes when in my house
Disclaimer: during dinner parties or small even cocktail-type gatherings, I don't usually enforce this