Oh yes, I totally do this! Since I've been playing my 1800s style save, live-in servants and governesses are essential for the upper class and upper-middle class. Sims are socially judged by how many servants they have.
I use door locks to keep my family out of the kitchen or other areas reserved for the servants. For bigger houses, I have the entire basement dedicated to the servants (bedrooms, kitchen, maybe an office for the butler). I also lock the servants out of the family dining room (so they don't sit down and eat with the family) and the parlors.
I manually move the meals made by the servants into the dining room. I usually have a side table in the hall outside of the dining room that I manually move used plates to so the servants can come by and pick them up to wash them. I put a fridge that looks like a cabinet in the dining room so my family does not go hungry if I'm not looking after them at the moment.
I give the governess the "adopt as care dependent" for the kids I want them to look after. Some are more attentive caretakers than others.
I give all of my lots with servants the "filthy" trait so that they have more stuff to do.