I dont think you are wrong at all.... i expect my children (from about 2) to put their own things in the bin, and help tidy up their toys etc.
I figure, i do the "main" things... like make dinner / serve it / clear the table and load dishwasher.... BUt if they want a snack they can at least bring the snack plate to the kitchen as well...
If we have been playing playdough for example they are both expected to help put all the playdough in the pots, and tools etc in that box.... but i sweep the floor and dettox the table cloth afterwards IUSWIM
Im also not their slave.... if they want it they can go and get it themselves (unless they cant reach wherre they know they can ask nicely and i will pass it to them etc)
At the end of a play session we ALL help clear away the toys. My theory is they are only 2 and 5.... as long as they are genuinely helping and not messing around thats good enough for me, even if I put away 3/4 of it myself... I feel its the effort that counts not the end result.
We may also decide for example to do painting "after playroom is tidy", 1 may tidy away pens into pencil case, other dolls clothes and me tea set.
We are also quite tidy and dont normally have too many things out at once, (tho obvioulsy we dont restrict play.... if dolls are having a picnic we have the buggies, the dolls, the tea set, the toy food, the kitchen all at the same time etc!) this keeps things in order and makes tidying very quick and easy!