Depending on the dog, you may have to do the "Yorkie Shuffle" for life.
My older boy knows how to steer clear of my feet, but the younger one is always underfoot.
Drake will grow out of the toe nipping. Keep telling him no, or "uh uh uh." You can also try putting a toy or a chew in front of him to encourage him to nip at that and not your toes. When Max was a pup, there were mornings when I had to put him back in his xpen so that I could brush my teeth and dress without having my toes nipped. He eventually got the message that if he wanted to be free and start his day, don't attack mommy's feet.
