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Thank you for that information. IF he is not destroying things when you leave it is doubtful he is suffering from separation anxiety however our dogs learn through our routine when we will be leaving as we are creatures of habit. So I suspect it is your dog's way of sending you off.
If you said you were coming home and finding things torn up, or urine on the floor then I would say it is from separation anxiety.
To stop it use your leave it command as leave it means to leave everything alone that the dog has its mind on. You can also spray your feet with grannicks bitter apple , found in pet stores or online, as most dogs do not like the taste and smell. Eventually the dog will think this is what your skin taste like and will stop licking.
If the dog only does this with open toed shoes he may just like your feet as many dogs are attracted to bare feet. my own dog included:)