Bet most people (at least here) have said something like this with guests at home: feel comfortable, you can take your shoes off and feel like home. For me it's not usually for them to really do it if you don't take the lead and do it (and even so at least one of them don't). Have someone experienced something like this?
Yeah I completely understand what you mean, however and myself included I'd suspect most contributors on this forum would if at least it was a good friend simply turn up barefoot anyway.
I don't really want habitually shod people taking off their nasty shoes and socks at my place. If you show up barefoot or in minimalist footwear, come on in!
I let them take the lead generally. Doesn't really bother me either way unless their shoes are very dirty or something.