Departure from BOS, return from MCO a few weeks ago. No conspicuous signs, nobody saying to take shoes off. Most people took their shoes off anyway. I did not. Walked slowly through checkpoint, no problems, no sudden diversion to secondary screening.
I'll admit I am one of those who slow up the line. I will take off shoes or sweatshirt or jacket if needed but not until someone says so. So a valid excuse for telling everyone to take shoes off is to speed up the line.
I would rather they told you instead of just suggesting or recommending.
Travel tips:
http://members.aol.com/ajaynejr/travel.htm