Yvette and I believe that putting your feet on furniture with your shoes on is a display of a lack of civility and a disregard for others (not to mention the high cost of cleaning clothes and furniture). Of course, in your own home you can do as you wish. But in the homes of others, you may want to keep your feet on the ground.
Parents and caregivers let toddlers and children do it all the time on public transportation. It's as if they think the soles of childrens' shoes are immune to dirty sidewalks, and the dust, urine, mud, etc., and everything magically disappears. No one tells them that it's not right, so one day they end up on a bus with their feet on a seat bopping to the music while some stranger stares at them in disbelief.
We have some pretty nice shoes coming into our apartments, but no matter how fabulous the shoe, the sole is not.