I take Levi almost everywhere (in his carrier bag). I don't take him if I will be gone for a long period of time to a mall or grocery store, but if I have just have a few stops to make, he doesn't mind the carrier. He never really barks in the carrier - he is more of a squirmer
I even took him to the hospital to visit my grandmother a few days ago. I expected the nurses to get upset or at least request for him to go back in his carrier when they saw him...but they loved him! One nurse even brought out her cell phone to show me pictures of her toy poodle in a bikini at the beach.