Do stuff before other people have to do it.
If things need tidying and you are sat around ignoring it until someone else has to start tidying, THEN you offer to help, it is likely you'll be told to piss off out of the way.
However if you either, don't create mess than needs tidying or, spot it and tidy it as soon as you've noticed (and actively look for stuff to tidy up, don't wait for it to leap up and bite your nose!) BEFORE someone else has to deal with it, you won't be told to piss off out of it by a fed up person.
It is VERY easy to get into the habit of not spotting mess/jobs that need doing when you live where others will eventually do it for you.
So you have to actively work at making yourself aware and doing things before they have to.
You obviously can't pre-empt everything, if you're at work when someone is cooking a meal then you can't be at home to pre-empt and cook for everyone else.
But do what you can, they've snapped and called you lazy because thats the underlying feeling, look to what you can do to change that, rather than seek to justify your own behaviour.