ALL dances have some " rules ", and salsa is no exception. IF you mean there is no written format, then I will agree, but, there are certain foundation principles ,that exist, and to avoid/ignore them, then they may undermine all else you dance in salsa.
For me, while dancing socially, the most important things are to lead clearly and to ensure the lady has a good time, enjoys herself. Of course there is a method to making that happen, which is where the rules come in.
But I don't (and I suspect most guys don't) need to worry about pretty, pointed feet. Hehehehe...that's for Latin moments.