Definitely should have asked for something to stand on (old towelm of sheet even paper ! especially on a kitchen worktop ! but if he didn't damage anything all you can do it give it a deep clean ...and possibly keep an old sheet folded away in a kitchen cupboard in case it ever happens again !
Here I find the opposite ....workmen come to the door in muddy boots and apologise and ask if they should remove them ...no, not a problem I say ..I have white tiles in the house and all they need is a quick Dettol spray and floor cleaner from my spray mop or the steam mop and hey presto ! as clean as before ...I think my cats are far worse ...you never know what they have been putting their feet in !!!! I tell them to wipe their paws on the mat but they take no notice !
If you have carpet that must be worse ,,,,, !