Glad you have such a good puppy! I had to laugh at your description, such a typical lab
The way I see it, you have 2 choices. Either train the dog to stay out of the kitchen/gate it off and then the dog is out from underfoot, or embrace it.
I chose to embrace it. As Archie got bigger, and I got used to him underfoot, thinking before I took a step became like second nature, and he also tends to just plunk down in one place now rather than putting his face in everything.
Some of my favourite moments are cooking in the evenings with Archie laying on the floor keeping me company, or wedged in between me and the counter (his personal favourite position).