Some people seem to see the shoes-off rule as an unfair restriction on the freedom of guests. I think that is a very sad attitude.
I rather see the removing of shoes as a beautiful and peaceful exchange between host and guest.
The guest removes her shoes when she enters the home. She shows respect to the house she is entering. She does not treat it like a restaurant where her custom is king. Nor does she treat it as her own home, where she may do as she pleases. She has entered the home of another family and she must respect the fact that their lives are lived here.
The hostess is in turn delighted by the respect that the guest shows her. In removing her shoes, the guest has entered into the environment of her family. The hostess will treat her guest with all the courtesy and kindness that she would show to her own family members. She will take care to look after her to the utmost while she remains under her roof. She will serve her the best food, give her the best seat. If necessary she will drive her home in her car or let her stay the night.
In removing her shoes, the guest becomes like the hostess, who is already shoeless. She identifies with the hostess who has welcomed her into her home. In their both becoming shoeless, the host and guest enter a fellowship and unity. They are both without shoes; they are equals. This is true friendship.