I try to always get all the tools put away when I'm done for the day.
As far as actual "cleaning", I usually try to do a good clean-up about once a month, depending on how messy the various projects have been.
Vacuumed and mopped the floor yesterday, because I had grinding dust absolutely everywhere. Cleaned up the bathroom, utility sink area, etc.
I have most of my stuff on wheels, so I can pull it away from the walls and clean behind, etc.
Making time to clean up (at least, for me) also helps to identify stuff that can be thrown out or consolidated, or otherwise gotten rid of.
I am making a concerted effort to not save/hang onto as much miscellaneous **** as I used to.
By cleaning up periodically, it helps make the decision (throw out or save) much easier when you look at some old water pump for the 6th time, and you finally decide to pitch it, of course, three months later you will need it, but that's fine by me, LOL.