I own the ultimate velcro dog - the Whippet, they curl up on you or next to you because they crave body warmth. They also pile on top of each other.
Your puppy is craving and missing the warmth and assurance of his litter mates and you are the substitute for that.
Could you potentially have a bit of a problem if your puppy gets to the stage that it can't settle without you or starts to develop some sort of anxiety yes, but I think as long as he is also spending time by himself, both while you are at home and naturally while you are out then I see no problem with it.
Dogs are pack animals and crave company, that's why they make the ultimate pet and become part of the family.
Sitting on your foot I see as no problem at all. Perhaps you could make it that puppy is allowed to sit next to you if you put a rug on the lounge for him. That's what my dogs have to do. No rug they sleep on the dog beds on the floor, when the polar fleece blanket or vet bed goes on the lounge it's their signal that the lounge is no longer out of bounds, bit like picking up the lead signals to the dog that a walk is coming.
They can also grow out of needing to feel the body warmth (whippets are exceptions to this rule).
So as long as you are asking some basic manners from your dog, such as not launching himself onto your lap but waiting to be picked up or signalled to come up, and giving him time on his own you should not encounter either anxiety issues or dominance issues for want of a better word.