i don't have a cleaner, I do have a nanny - I've gone out and got a desk in a shared office because I didn't want to cramp her by loitering around the house. She assured me it was fine and wasn't weird, but still - I want her to know I totally trust her.
And this is someone I would consider a friend, our eldest sons are best mates (hence me asking her to be my nanny for me), someone my kids will happily run to for a hug and a knee rub.
I'd do the same for a cleaner - find some way to excuse myself for a couple of hours. No-one wants to be watched while they do a job like that, let alone leered at for a measly double pay.