Short answer: It’s complicated.
Long answer:
Do you take your shoes off when you enter your home? Having grown up in a culture where removing shoes before entering a house was never required, I don’t do it unless I’ve been gardening. When staying with the SO, I do because we walk everywhere (no car) and there is a good chance that one of us stepped in something unsavory.
Do you request that your guests do? No. Some do and some don’t.
What if you are just running in quickly because you forgot something, and then running right back out? If I’ve been in the yard, then yes, they come off, especially when I owned a dog. If in the garage, sidewalk or driveway, then no.
Funny story: When my American niece started dating a Korean man, he eventually took her to meet his parents. The four of them, plus a few siblings, went out to dinner. On the ride home, the niece started feeling sick to her stomach and asked that they pull over. She and her boyfriend walked the rest of the way back. Once she entered the house, she was sick to her stomach. The boyfriend attempted to catch the volcanic explosion in cupped hands, but a fair amount landed in the family’s shoes just inside the door.
Fortunately, everyone eventually got over it, and the niece and her now husband have been happily married for 10 years.