It sounds as if he knows his stuff, so give him one or two more tries, but if you still feel uncomfortable, look around for someone else. Since psychs are on a very personnal level compared to physcial ailments (not the physical issues aren't personal, but I think you know what I mean) so, personal rapport and trust is a must for successful therapy. In the meanwhile, you still may be able to get a thing or two from the guy even if you decide in the end to find someone new.
As for the home stuff--it may be that he had found through his experience that it is easier for his past patients to relax and be free with their thoughts with a less professional atmosphere, but of course, this approach doesn't work with everyone. So, in that case, I think it's fine for you to tell him that you feel uncomfortable about taking off shoes and the layout and such, after all, it is his job to understand that people are different and react in different ways.
(((((((HUGS)))))))
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