Sorry cleaners but the people whose houses you are cleaning are not working in that context, and have no responsibility to look or behave as if they are, just because you do. Because you are working. They are not. They are not on your time, they are not attending an appointment with you, they are not being "disrespectful" by behaving as if they are on their time off BECAUSE THEY ARE.
They hired you because they have already been at work doing their job. A different job. Not your job, which they have hired you to do. This is your job, which you are now doing. It may happen to occur at the same as their leisure time. CAN YOU STAND THAT? CAN YOU BEAR IF SOMEONE IS NOT WORKING EVERY PRECISE SECOND YOU ARE WORKING? if not, get another job.
When you live with someone it can sometimes (sometimes) be inappropriate to sit on your arse in PJs while they are working. When you work for someone it is entirely appropriate to JUST DO YOUR JOB AND IGNORE THAT THEY ARE NOT WORKING
The reason why it is really pissing me off that cleaners (some cleaners) don't get this, is that they are exactly the people that should. They know better than anyone that cleaning is a job. It takes effort, skill, you have to do it right, you get paid, you pay tax. It is for this reason that I like having a cleaner because it clarifies that it is actual work and not something that women should just be expected to absorb into their spare time.
For this reason, cleaners, you should more than anyone be able to appreciate the work / leisure distinction that is at play here. They are in their PJs PRECISELY BECAUSE you are getting paid. It is because they pay you to clean that they have some leisure. You could understand and support that, or you would be out of a job.