Like a lot of situations it's very subjective depending on a lot of factors.
I don't think there is a right or wrong way to behave (unless it's motivated by being deliberately exclusionary for no good reason).
For my part I'm lucky to have both lovely parents and PIL's. The type that would never overstay their welcome, not expect to be waited on etc.
In fact quite the reverse, they were all super helpful, bringing loads of home cooked food that I/DH could easily freeze and reheat.
Making copious cups of tea and bringing homemade cake/scones for themselves and us to enjoy (and doing the washing up afterwards).
Giving me space/privacy to retreat to my bedroom when I needed/wanted it without getting in the slightest bit antsy about it.
Frankly it was lovely to see them for a couple of hours every 3/4 days in those first weeks and some of my favourite memories are of them meeting their first grandson for the first time on the day he was born (lucky again to have a straightforward birth and was home by 3pm after starting labour at 5am).
However, not everyone is so lucky in how their labour went, nor in how their family behave. It's not something I can even get my judgy pants out of the drawer for, never mind put them on....