Boyfriends cleaning habits

Any time I ask my boyfriend to do something like laundry, wash dishes, or sweep he says he’ll do them. It will be 2-3 days later and it’s still not done so of course I’ll just end up cleaning it up anyways and he gets mad at me for doing it and says he was going to get to it. I don’t complain about having to clean something I’ve asked him to, he just gets really upset if I start cleaning.

Is this because he feels guilty? Why does he get upset when I start cleaning? I’m really at a loss and could use some advice. (I’ve already asked him why he does this but I can never get a straight answer from him)