If there is a clear space for me to walk & sit, it doesn't matter to me at all. If I drop in unexpectedly on someone I just want to see the person - I don't care if there are dishes in the sink or the floor needs to be vacuumed. I probably won't even notice unless there were dirty dishes & laundry & garbage everywhere.

Even then... like if the place was still trashed from a party the night before, I would just sit & talk to the person.... if I knew them well enough & it looked like they were in the middle of cleaning, I'd probably just pitch in and try to help straighten up.