I wouldn't dream of making DC clean up a mess I created.
Some of the responses on this thread are just bonkers!
I fully expect that, if I cook a family meal, someone else clears away afterwards.
I think you need to make the boundaries a bit firmer and clearer.
If you ask him to hoover and he hasn't done it by the end of the day, the wifi goes off until it's done. Letting that slide and then giving placing a different demand on him the next day gives mixed messages.
I understand why you let him meet the friend on time as it wouldn't be fair to the friend to leave them waiting. However, I would then have waited until after the friend had gone and then expected him to clear up and I would have made it clear that this was going to happen before he left.
In future, when you ask him to do something, he needs to do it by a specific time or he loses a privilege until it's done. Don't back down or move the goalposts. It's harder work but it makes all the difference.
I don't think it's a great idea to risk embarrassing them in front of their mates. My parents did that to me and it just became another thing that made me resentful of them, along with a long list of other things.
You can be respectful and kind as well as implementing firm, clear boundaries.