I have a lipoma in bottom of foot between little toe and the next toe, should I have it removed?

The main reasons to have a lipoma removed are:
If there is doubt that it is a lipoma.
If it is getting bigger 
If it is painful
If it is causing a problem (pressing on a nerve, getting in the way etc)
If the cosmetic appearance in unacceptable
Many people live very happily with their lipomas which cause them no harm or problems. Some people have literally hundreds!
Obviously with a lump it is sensible to have a medical opinion to ensure that it is not something else or something medically significant.
The British NHS (state health service) does not consider that simple lipomas should be removed under the care of the NHS. They are usually only removed following special applications for funding. Obviously there are exceptions such as the reasons given above.
Best wishes.