My foot peg rubbers stay put without anything, they are a tight fit the original rubbers lasted the longest before they were toast from wear, going hard and slitting, the first replacement rubbers only lasted a short time but about 13 years ago I ordered parts from RGM with 3 sets on new foot peg rubbers on the list, so far the first ones I put on are still hanging in there after 13 years and have 2 spare set waiting, same with the gear lever and kick start rubber, my kick start lever is the folding T160 long lever and I had to cut the Norton rubber down to fit, but it has hanged in there as well with the new rubber from RGM.
Some after market foot peg rubbers are so bad they just don't last less than 6 months but the RGM rubbers seem to be so much better and a tight fit, haven't had one slip off yet in 13 years of riding, but had to use a soft face hammer to knock them on.
Ashley