D.D.
You are expecting a little too much. Let him learn by example. When you want the toys picked up, lead by example. Show him how you want it done and make it fun. Have him do more and more each time, example: "Ok, mommy's going to pick up the stuffed toys and you pick up the trucks." Then after time (weeks? months?) you should just be instructing him what to pick up. Eventually he will fully understand what picking up his things means.
Do you always want to clean when you have to? Sometimes everyone needs a little break.