Use the handbrake if you are on any slight slope or will be stopped for 5 seconds or more and always whilst waiting at crossings.

Using the footbrake all the time means that at night you will dazzle drivers waiting behind you in busy areas. Also the car may slip back or forward on a slight slope whilst you move your foot from the brake pedal to the gas in order to move away. A pedestrian crossing near your car nudged at that speed however slow could be knocked off their feet if that happens.

If you practice using your handbrake correctly now then the more you drive the less you will find it an inconvenience.

On the occasions you dont need the handbrake all it sounds like you are doing is letting the clutch up too quickly. Practice in an empty level car park or a quiet road at a very slow speed slipping the clutch in other words moving the car away with the clutch low and just a small amount of gas and letting the car slow naturally by dipping the clutch and braking to a stop.

Your question about removing your foot off the brake, if it is just for a few seconds that you stop, the foot brake is kept down until you find the bite the pedal is doing the same as the handbrake. with good clutch control you should be able to control the car. Just be careful that you dont get into the bad habit of relying on the clutch and neglecting the handbrake.

hope that helps