Most organized companies will do a deep cleaning to form a clean baseline, or let you add on extras per session to address when you need. Usually it’s hourly based with a minimum time requirement. If you don’t need them to do something, it might work out to be cheaper if doing it would have put you over the minimum time.
If you find a self employed cleaning person, they are likely to be more flexible and able to handle the odd tasks like tidying up or handling laundry. Maybe even help organize or do other routine tasks that you don’t have the bandwidth for.