In our house we have carpet on the lower floor and the upper floor (Main floor being hardwood).
If I don't intend on leaving the lower floor for the day I will rock the barefoot attire. If I have to go the main floor to cook a meal, seeing as it is a temporary thing, I would still continue on with no coverage for the feet.
But if I have to go out, have company, or be spending a lot of time on the main floor then I will sock it up.
Cold floors don't bother me, I embrace it.