On a '94 clutch pedal release switch, I used JB Weld epoxy to attach a polished thick metal plate to cover the hole where the rubber attached. I suppose you could use a weaker adhesive to permanently attach one of those rubber feet you buy at the hardware store as well. It seemed that nothing else I put there though, was durable enough to last more than six months or a year. So I eventually settled on the metal plate.
Brake pedal/switch doesn't take any where near the abuse that a clutch pedal/switch might though, so provided you use a stronger adhesive that might be a permanent solution. | 
