The putting off the shoe is figurative for the putting on holy reverence, and godly fear. Joshua 5:15. It is not meant to forbid a drawing nigh to God, for David says, it is good to draw nigh unto God. But it means we cannot approach but in and through a Mediator. John 14:6.
Related Commentaries of Exodus 3:5
Exodus 3:5
5 And he said, Draw not nigh hither: put off thy shoes from off thy feet, for the place whereon thou standest is holy ground.