I have always picked up what ever dishes/cups/glasses, what -for my 'guests' I was taught that is what a good hostess does- my mom always does, my grandmother did...it is different if you have invited guests to dinner- then it is 'polite' for them to offer to help clear the table/maybe help with dishes- most who come over do this- even though we always decline their help-let them help clear the table- but then decline help with the dishes- letting them know we will get them done later (or hubby and I will do them together real quick while we visit-we would rather visit with them while they are with us.