Sam has never cold feet and he has his rock boots attached to his neoprene High Tide suit.
This is probably just a difference in physiology more than footwear. I really don't get cold hands and feet when diving, it probably has something to do with the fact that my hands and feet naturally go ice cold whenever I'm concentrating on anything. But my core starts to feel cold pretty quickly. Other people get cold feet easily and require multiple layers of insulation.
We're all different that way. More/thicker socks or thinsulate booties can certainly help.