Dang...what kinda places do you hang out in?!?
I take my shoes off at the door of my house and I do it when I enter somebody else’s house too. They don’t have to ask. I’ve had some funny looks a few times when the host realized that I was sitting in their livingroom in my socks. It’s just my habit. I even did it in the lobby of the dentist office once because it was raining outside and my shoes were wet. I left my shoes in the entry hall under the coat rack and went padding down the hallway to the examination room in my socks. :-)
I don’t go into those places anymore.