I actually have 2 types of pads in the 5.5" thigh boots. One is a small "open toe shoe" style that helps pad right where the bone hits the pad of the foot, and a larger pad that covers most of the flat part of the inner boot. I would have to dig around to see if I could find the names.
Usually I wear socks, as I don't actualy own any hose at this point. I do have some lycra socks, and I also have some lycra unitards with feet, but am unlikely to wear those in public. If I need to pull the boots on over my jeans I will wear at least mid calf height socks to keep the pants in place, I have a pair of MX socks by Thor that are quite comfortable for that :)
Btw, I got one of the thigh boots on my b/f for a test fit a few minutes ago, they fit great
Seeya
Jim