A tip is a reward for some extraordinary service, payment for a favor done for you. Doing your job does not warrant a tip, and pushing for it is obnoxious.
A tip is to thank someone for the service they have provided, it is not something for extraneous services rendered.
As the saying goes, you can judge the character of a man by how he treats those he feels can do nothing for him.
If you feel the person who cleans up your crap doesn’t deserve a thank you for it, then that’s your character.