If someone who stepped in dried blood in shoes, came into my house (a couple days later) with their shoes on is there a risk of my 6 month old baby getting a disease (hiv, hepatitis, etc) from crawling in the floor or putting toys in mouth from floor?

You may be overthinking things just a little bit. Although many germs can reside on the bottom of one's shoes, they are not transferred or infect in this manner. To prevent future distress, have all shoes removed at the door and provide house slippers for those that enter. Keeps your floors dirt and germ free.

Not HIV or hepatitis B or C,but rather typical germs (hepatitis A, for example) that are transmitted through dirty hands remain possible.