Hmm. Sock dropping and strewn, clothing, tops off drink bottles, man traps waiting to fall out of cupboards when badly stacked stuff falls out all over you, bath not emptied etc. "Well lemme tell you when you've been out to work all day..."- no, from experience this approach doesn't work. The best thing I found was to have an intense cleaning day in their bedrooms when they were in them.Seriously, I bought a steam cleaner for the carpets and we vacuumed everything out, tidied things away, chucked out bin liners of broken things, found lost games CDs etc.
Because you are doing this your kids get interested and start doing stuff with you.This then extends to the rest of the house and they get a better idea of the baseline of minimum domestic cleanliness not to die of food poisoning or live in a chaotic tip. You can get them from that point to do stuff like occasionally clean the bath.
Now they are older it is most clear they can do this stuff because when their girlfriend visit, they start hassling me to clean up. I can leave stuff all over to annoy my kids now if I so wish, and
I get the same arguments back at me I gave them when they were growing up if I do, I do it occasional at a key stress point to remind them of what it was like living with untidy, food plate penicillin propagating teenagers. It's in very good humor though.