Neither Yes nor No really fit my thoughts. I do use it, for some things, like putting up books sims forget, or moving the food from the fridge to the toddlers room so they can grab a serving quicker, but I generally make my sims clean up after themselves.
They have to do their own dishes, pick up their own piles of trash or clothes, but I will do it if they don't have time and I get tired of looking at the mess. The dishes is the one I help with least. I usually make them clean those up instantly.