I don't enter private bedrooms or private bathrooms unless the guest requests it.
Guests get a fresh set of towels every other day and I make up the bed with fresh linens after five days whether they ask for it or not. It is much easier for me to launder towels and linens and get them to high standards if they don't get too funky.
Guests make sure they "clean up" after themselves in the common areas (kitchen, dining room, living room, decks) but they don't clean the way I clean so I scrub daily.
I allow no one to load my dishwasher. No one rinses dishes and stacks them the way I do so when they DO load it, I have to unload, rinse, stack and it's a waste of everyone's time.
I take care of the trash because I know what goes into the compost bin, the recycling bin, the garbage disposal, and the regular trash.
I clean everything everyday (except for the guest quarters) and that makes it sooooo much easier for me to keep up with the place.
You can ask guests to clean up but they may not do it to your liking so you'll have to do it yourself anyway, in which case, asking them and getting twisted about it is just a waste of time.