I never use the handbrake aside from actually parking. I do however, always bump it into neutral as I come to a stop to save my throwout bearing, and put it into first again as I'm about to move off.
It shouldn't cause you any strain to wait with your foot on the brake pedal - it requires almost no effort at all to keep a car stopped on flat ground with the foot brake. The weight of your foot alone should be sufficient in most cars to simply stop them from rolling.
And those saying that the hand brake is safer in the event of a rear end shunt - think about this a second. You're saying that a manually, cable operated brake on two wheels will prevent the car from moving better than a servo assisted, hydraulic brake operating on all four wheels? You've obviously not been in a rear end shunt! I have, and it was a fairly heavy one at that. If I'd been using just my handbrake, my car would have been pushed out into 70mph dual carriageway traffic. My instinctive reaction was to press as hard on the brake as I could. My car moved forward about three feet. It'd have been a lot more than that if I'd been waiting on the hand brake. The only thing that saved my car was the tow bar. Aside from the bumper being knocked off a clip (fixed with a zip tie) my car was absolutely fine. The front of the other guy's car was badly messed up.
Foot brakes for me please.