Not really, no. I don't live with my mum and haven't done for years, so your "picking up after you" arguement doesn't really stand up.
I've not lived at home for 20 years, so no one picks up after me either. I do however have a memory.
I've also got kids, which I suppose helps to give me a slightly different perspective about what sacrifices you make as a parent.
Don't worry I was a complete fucking ingrate when I was younger as well.
You'll appreciate your parents when your older I expect. Just make sure you get it right before it's too late, or believe me you'll regret it. No-one lives forever you know.