Depends how frequent the visits are. If a family or friend comes over for a short visit maybe once a month or so then I wouldn't expect much from them. However someone who comes once a week for a few hours I would think its polite of them to help out. I don't wait for them to offer, I'm quite happy to ask them to carry dishes to sink, help feed, bathe or dress ds.
If an overnight guest left towels on the floor, didn't make the bed or left dishes on the table id be annoyed. It's rude to come into someone else's house and not tidy up after yourself.
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