Toby will do that sometimes. It's like he knows if he walks behind me, I won't step on him. But he does that when I get up from the computer to go into the other room. He'll run over by the door and then follow me as I go. Now, when we're out and about, he wants to run wherever he can. So I guess it's just something when we're inside. (by the way, I never remember stepping on him when he was a puppy -- I was always very careful)
My first yorkie was always getting under my feet. I would try to step over or around her, and she would always seem to end up where my foot was coming down. I learned to step very lightly around her.