Yes, I'm offended if I am wearing sandals or shoes with no socks and then I have to walk around someone's house barefoot. Esp. if my pedicure is getting old. Very embarrassing.
I think your "drill" should be more about your guests than about you.
Are you having a bad day or something? Your outburst seems a bit much for the question that was asked.
OP - we are also a no-shoes household. I picked up the habit in Russia and my husband grew up this way. We handle it the way that it sounds like you do - our friends know that we are a no-shoe house and follow the drill, and acquaintances and neighbors - we don't say much and they don't take their shoes off.
I've thought of putting up a little shoes-off station in the Russian tradition, complete with house slippers for all who come, but haven't gotten around to it for the very reasons that you state - it seems a bit awkward.