You can use that grip anyway that feels comfortable to you, but to me, that has finger grips for carrying the lens, and possibly the camera, usually upside-down. I would only use it that way while walking.
A large arca-swiss plate can certainly make the tripod collar larger and more grip able, but can be very expensive.
Have you tried a monopod?
Seriously, a $15 monopod from walmart is not the best monopod on the market but will take 100% of the weight of your rig, and steady your shots.