Divi Pixel provides some very useful options to customize the Divi Footer. You can hide the footer bottom bar, enable the option to force the footer to the bottom, and add attractive footer reveal effects, which can be optionally disabled on specific devices.
To customize the Footer Settings go to Divi → Divi Pixel → General Settings → Footer
Once you save the plugin settings, you can go to the Theme Customizer to tweak the appearance of the footer elements.
To customize the Footer Menu, Footer Bottom Bar and Footer Social Icons go to Divi → Theme Customizer → Footer