At home I pull off my shoes immediately, although I often use lightweight "slides" especially when going to the garage, basement, or outside.
As a person who works in in-home sales, it irritates me when someone asks me to remove my shoes to enter their house, when they are completely clean, and I am careful to keep my shoes clean. If my shoes are dirty or muddy, I understand the need to remove them.
I hate dogsh!t, and I hate walking in someone's yard where someone's dog has soiled the yard. But when the owner expects me to remove my shoes to prevent me from tracking HIS dog's sh!t into HIS house, on HIS property, I find that to be extraordinarily insulting. Honestly, I think that he should be cleaning HIS dog's sh!t off my shoes since he invited me there in the first place. If he does not like dogsh!t then he should not have a dog. I don't, for that specific reason.
But I digress into my own pet (no pun intended) peeve.
I remove my shoes at home for reasons of comfort rather than cleanliness.