I don't have a cleaner (ahh to dream) but a friend was a full time SAHM and she did, she just went out for the time the cleaner was there, i think she's even worked it around HER schedule like when her DD had swimming etc.
DP's aunt is a cleaner, she says most of her clients are at work or go out when she's coming, it's very rare she has someone actually around but she has a few older clients who just potter around the garden while she's inside.