In England and Wales a public footpath is a path on which the public have a legally protected right to travel on foot and in some areas public footpaths form a dense network of short paths. It is probable that most footpaths in the countryside are hundreds of years old. The majority of footpaths are shown on Ordnance Survey 1:25,000 and 1:50,000 maps.
Herefordshire Council provide a Public Rights of Way Map (the Definitive Map) on their website here. Just enter your postcode in the box provided and hit enter; it will take you to that position and you can zoom in and out. Zooming-in will reveal street names and you can even hold in the left mouse button over the map and drag it North, South, East or West to reposition the map.