I clicked every link in your menu, and the footer stays in exactly the same place for me. But perhaps when you add more content to your site, the footer won’t be on the same spot anymore on every page. For that, I indeed would use the sticky footer technique.
Also, I find it kinda weird that on the homepage you have a vertical menu, but on all of the other pages it’s horizontal. Is that a choice you made or is it just not finished yet? I think consistency across pages is important.
Edit: Just tested it in Safari, Chrome and IE. In IE the footer stays on the same spot, like in FF, but in Safari and Chrome it is indeed a few pixels off. I’d say try and use the sticky footer and see if that solves your problem.