I swear by these, and they work for short boots, too. (The website also has ones suited specifically to boots, but you don’t necessarily need those.) Shoes are perfectly secure, very low-fuss, and look slick and normal.
My favorite use is actually bike shoes. If whatever you cycle in (I use regular platform sneakers) doesn’t have velcro or those other weird straps, this lets you stop worrying about shoelaces in your gears.