You are clearly not riding clipless pedals which will keep your feet in the exact correct position at all times. I suggest you search "clipless" on this website to get more info about it than you ever believed possible.
Your description also suggests that you are not using toe clips either. I suggest you search that too. However, clipless pedals are so superior to toe clips in so many respects I do not suggest starting with toe clips and "graduating" to clipless (which is a common but not great idea).
The proper position is to have the ball of the foot in contact with the pedal.
Welcome!



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