Read this insightful article about how to talk to our mates, how to speak with honor and respect. When they help you with something like the laundry, hold your tongue and don’t over share about how they didn’t do it like you do. Just shut your yap and close your mouth and just give them a kiss and say thanks. Who cares if the socks are in the wrong jar, what are you the laundry police?
Just be glad you have someone to share the load and just enjoy it. this could go with other relationships too like family, friends, co-workers, who ask to help you with some project, be glad they want to help and hold back on any nitpicking.