There are resident systems, and they're of exactly the type listed in the article (i.e. water heaters). Residential... area heating pumps, so to say, are moving towards propane (afaik). I've been looking into getting a propane monoblock air-to-water pump, with an antifreeze loop towards an indoors heat exchanger / water tank.
Trends for new refrigerant depends on country... some to R-454B, and some to Propane, doesn't seem like C02 is very common which is a pity because I love the idea of a non-toxic non-flammable super cheap refrigerant.
This is for the Japanese market so perhaps the cons of the C02 systems are outweighed by the safety aspects.