I do take calcium for that reason, with 1000 mg of D3 per day. My bones are said to be good, but I did have an incredible fall two years ago, which put me in the hospital and care centers for 3 months. I broke my kneecap from falling down stairs. The stairs were too shallow, and I was trying to carry something in one hand instead of holding on to both railings. I would never try to live in a house like that again, but that's all I had when I was in Seattle for 9 months. My knee heeled very well without pins, just a long cast.

My feet are numb. I haven't had a foot drop occasion for many years, but the numbness means I must always hold on to railings on stairs. As far as walking around the house, I don't have any rules except keep being aware of where my feet are going, and do exercise my feet (rotate ankles, rise on toes, other PT exercises). I live alone, so falling could be bad for me, but then, I do have those solid bones.
The doctor who suggested taking calcium because of proneness to falls, good doctor. Add D3 if you haven't. If you take magnesium take it at a different time of day.