Although I'm never offended or anything when someone asks me to take my shoes off, I'm always uncomfortable doing it. It makes me feel exposed and vulnerable. As a result, I'd never ask guests to remove their shoes (even though I wear slippers in my place).

It's an oddly sensitive topic, though. I've seen people get offended at being asked, and I've seen people get offended because guests didn't automatically take their shoes off without being asked.

Weirdness all around.