Is it kinda rude?

li
When I go to someone's house and it's messy I just want to clean everything, i REALLY like cleaning so if you let me I will clean your entire house for no reason. BUT, I feel rude to walk into someone's house and clean it like I'm insinuating that their house is too dirty for me. Like this past weekend I stayed at my boyfriends dads house and I wanted to clean but I didn't. Is it really rude or am I just being paranoid??