When Chewy was a pup I put him on a leash when we were around a lot of people and I had to worry about him being stepped on. I hook the leash on my belt loop and he went where i went. i also carried him a lot. I never let him run free with the worry of any one stepping on him.
With my family, (No little kids) we never put Sadie down when any one was walking around. Only if we were all sitting. As soon as any one was getting up we picked her up. She was only 10 weeks and too little to let her run free with so many people walking around.
We also put her in her create to give her a break from company.