As a guest I would expect a property to be cleaned prior to my arrival. The problem with asking guests to clean up after themselves is that they might not do so and there is absolutely nothing you can do about it, you can't impost it on the guest. Also different people have different standards of cleaning; a guest in someone else's property is not going to clean it on the same level as the host or a paid cleaner. If I arrive as the new guest and find it has not been cleaned properly, I would reflect it in my feedback at best or at worst depending on the mess I would ask to cancel and for a refund.
It is your responsibility as host to ensure your property is clean and ready for the nest guest; it is not the responsibility of the departing guest. I would suggest that if you do not have the time to clean the property yourself, that you employ a cleaner. Airbnb provide an option to charge for cleaning, add that to your listing and be safe in the knowledge that you or a cleaner is providing a clean property to the guest.
See Airbnb guide - https://www.airbnb.co.uk/help/article/560/how-can-i-provide-a-clean-space-for-my-guests
BW, Ama
