Confidence is what it is all about. If you can FAKE confidence for a little while, eventually you build REAL confidence! It's a weird little paradox.
If people start to notice your feet and give you guff about them, hold out a foot, and laugh about it, and say, "Yeah, my feet are beautiful and I just gotta see them and get them seen all the time! Look at that foot! It's gorgeous! And it feels so FREE being bare all the time!"
If you can do that in front of people, THEY will stand there wondering, "How can she have such confidence?" And they will be the ones wondering about whether they could ever feel so bold and sure of themselves, and they will probably harbor an awed respect for you. It is the difference between carrying yourself like you're not sure of yourself, and carrying yourself like YOU make the rules for you!
I will admit that this is something I am still practicing. I'm not perfect at it, either.
When you think about it, going barefoot is not doing something "wrong," so there is no reason why you should have to hide it or make excuses for it. If you keep that feeling present in your mind, it will make it easier for you to be brazen and fun and outgoing and confident about it if the subject comes up for discussion.
If you don't already, try adorning your feet, with a few toe-rings or something. It will show people you mean business about having your feet bare, and also it will be a conversation-piece and point of interest. And when you start to feel self-conscious about people looking at your feet, you can just tell yourself they're looking at the rings, not at you, and it might be easier to deal with mentally.
I hope you have fun and grow strong about it!