Cleaning also takes less time, especially if you include all the planning that goes into cooking. Then if you consider the amount of time it’d take for the same meal to be made by other members of the household, you start to see that cleaning is actually a bargain. You also have to remember that even when you enjoy cooking, it is stil exhausting. They have less energy to clean than those who didn’t cook.
Obviously there is a limit. If the cook is making an excessive mess due to doing some particularly fancy cooking out of ambition, they should probably help out. But if you regularly reap the benefits of someone else’s skill in the kitchen, yes, you should help clean.