It is not against the rules to wear open-toed footwear in general. We are basically allowed to wear anything that is not flip flops.
Saying that it's "so your feet dont hurt like hell when stepped on"...are they going to ban wearing shorts because we might trip while running and scrape our knees if we're wearing shorts? Because I know people who've ripped holes in their jeans by falling and their knees still got scraped (I myself have also had this experience).
I've been doing research since I posted this question and I have found that restaurants that do say "no shirt, no shoes, no service" are using those as THEIR OWN, AS IN THE RESTAURANT'S RULES. If not, they are simply unaware that this is not a state requirement for customers. Everywhere I have looked says that it is not required to wear shoes in public places in any of the 50 states (except for employees of a public establishment), but many people believe it to be so.
(Now that I have done some research and am probably going to get nowhere from this question on here (and this new update won't let me delete it), I would appreciate if there are no new answers, please)