lol. my mum variously works as a cleaner - and maybe she's not representative of all cleaners, but i'm pretty sure she doesn't clean other people's houses to feel 'useful and normal' and for her 'self esteem'. she does it for this super weird other reason: money

creasing at acting like you'd happily clean up after yourself, but you want to make a poorer person feel useful, so graciously let them do it for you, and insist on paying them, even though the prize of being able to clean your house is worth it in of itself for their self esteem

it is simply fine to say 'i pay a cleaner to clean up after me for my convenience', without adding this baffling moral contortion where you're somehow doing them a favour, beyond fair payment