we remove our shoes at home and at every house we visit, even if they wear shoes inside. Actually both girls will not enter a house with their shoes one, and if they do by accident they freak out until their shoes are taken off..
I prefer it if people take their shoes off before coming into our house, and I make it visible and well known that thats what we prefer, shame the in-laws never get the idea even though Ive told othem over and over again over the years.
Its part of our family rules too :)