I might not be the best person to answer, as I don't regularly require it of my boys. When I do require it, it's usually with a reward immediately following. "Ok, time to pick up toys so we can go outside." "Anybody want icecream? We need to put our clothes away first. Let's do this together."
I am beginning to require more, as my oldest has started kindergarten. Still, it is something we do together. There's always one area we're cleaning up, and it's something doable in less than 5 minutes. As the kids get older, I plan to require more of them. I don't know, I guess I just figured they can just be kids during those toddler and preschool years.