He is not doing this on purpose to get you upset! If you can stop thinking that you will be less upset. When you think he's doing this to upset me your mind will automatically get irritated/angry at what you perceive his purpose is as well as his not following directions.
I would try asking him in a different way. Make doing what you want fun. Perhaps pick up the first toy and say let's put your toys in the box. Once he's started say, you're doing a good job. I'm going to go start dinner. You just keep working and then praise him when he's done.
Have you tried the pick up toys song. I don't remember the words but you can use any words. Sing your request and keep singing as he keeps working.
When he just stands there, he may just need a bit of extra time to process the request. I've seen moms expect their children to immediately move. Kids just cannot quickly switch from one activity to the next. Allow him some time. And, in a friendly manner help him get started. Children are more apt to co-operate when it's co-operation and not orders being used.
I suggest that he throws a tantrum because you're upset with him. I urge you to be calm, compassionate and light handed when asking him to do something. Say you know he wants to keep playing but it's time to pick up the toys and get ready for dinner. Let him know you understand his feelings too.