Not generally a good thing. If you have to brake heavily and there is a a bit of glass or a sharp pebble on the pedal, you are screwed (or worse, someone else is screwed), as it will be your reflex action to take your foot off the pedal.
Having said that, I am guilty of doing the same occasionally, but I always ensure that there is nothing on the pedal, my foot or floor that is going to impede me from braking. Agree with you about the better "feel".