Asking grandparents to keep our home tidy while babysitting

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My in-laws babysit our daughter at our home once a week and they have offered to help with two days a week. While I'm grateful and blessed for their support and generosity, would it be rude of me to ask them to clean up after themselves and my daughter better while they are babysitting? Without fail, every time I come home from a long day of work, I spend at least 45 minutes cleaning up after them and my daughter. I'm not asking for them to keep our house spotless, it's more of a respect thing. I would never go to someone's home and leave it messier than when I arrived. Thoughts on this? Is it worth mentioning to my husband and in-laws or should I suck it up and stay quiet? Thanks in advance!