It's your house, do what you want.
Ask people to take off their shoes , such a non issue.
My house is clean and tidy, no one is trekking human or dog poo around which seems to be a HUGE issue for some posters. No one is licking the floor either, even my children eat their food sitting down at a table.
I HATE when people take off their shoes without being asked, even worst when they are bare feet. I don't like the sight of bare feet on my floors.
No one is going to bed or even lying down on furniture with shoes on anyway, I seem to have guests who are able to SIT down and keep their feet on the floor, strange concept I know 
I hate carpets, find them ugly and unhygienic, and they are the first thing to go in any house we ever had. I have beautiful floors (don't care if people dislike them), they can be kept clean, if someone spills something it takes 20 seconds to wipe it clean.
Some people prefer carpets and think themselves as clean, but frantically ask for help to remove smell of puke or baby poop and urine from their carpets, I find that quite puzzling.
I wouldn't wear shoes and walk on the worktops or have a shower, but no one I know would do that anyway.
I do find it rude to ask people to take their shoes off, and weird that it's such an inconvenient house to live in - workmen, delivery men, plenty of people who won't take their shoes off anyway.