As @xmunk said, cleaning needs to be embedded in other tasks. If you cannot figure out how to embed a given task then you can set it for a fixed schedule. For example, you say that you clean your desk or office on Saturday morning and you have a given set of steps you accomplish.

Another trick I learned from corporate world is to delegate the tasks. It is more manageable to follow up on someone doing it for you than you actually doing it. This can be someone else living with you, or someone you can hire to do. For example, you can hire someone to clean the house every Sunday. This later option could be expensive.

If you want to embed tasks and do it yourself, then you need to make them easy for you, for example, you can overstock cleaning products. Let’s say you have a kitchen microfiber towel that hangs nearby and a dedicated cleaning product at reach. You consider that a meal (launch or dinner) equals, fetching the ingredients, cooking, eating and cleaning dishes, putting away dishes, and finally cleaning them. If you don’t clean dishes then you consider you did not finish your dinner.

Same thing for the bathroom, you need cleaning tools at reach when you are in the bathroom, don’t reuse kitchen stuff to clean the bathroom. Then when you shower, you clean the bathtub, the mirror, the sink, your underwear, wipe the floor, etc.