We have a gate to the kitchen, and then a gate to our study, which is DH's and my area, so no kids allowed lol. Our kitchen is a small U shape, and they just get under feet, which IMO, is unsafe especially when cooking. Maybe if the kitchen floorspace was bigger, it wouldn't be an issue. We just have 2 kids chairs at the end of the kitchen bench that DS and DD can stand on when we are cooking.

As with most things related to parenting, its a personal choice. I know that I am more safety conscious than a friend, but then its a personality thing with me to worry about the small things.