I don't enjoy cleaning most of the time, so I constantly look for ways to make it easier. These are the things I learned over the years.
One of the best time to clean is if you're bored or in need of a pick me up, but are not too lethargic. Another good time is at a set point in the day, like when you first get up (ie: do a 10 minute tidy up). For a lot of people, they will feel better after their house is clean. So just do it.
One part of being clean is just paying attention at the right time. Like if you're going to the kitchen, look around for plates, cups, or garbage and take them along on the way. You conserve effort that way since you dont have to make a separate trip and if it becomes habitual then it doesnt feel like a chore.
If you tend to be a messy cook, simply clean up while you're waiting for your food to cook. Quickly wash out things like measuring cups, cutting boards, strainers, utensils and other things that you used in your early stage of cooking but no longer need.
If you have a dishwasher, put your dishes directly in the dishwasher rather than using the sink as a 'staging point'. It's a little bit of micro-effort each time, but it sure beats dealing with the dreaded task of loading huge amounts of dishes, as well it keeps your counters clean.
Also, good music never hurts.