What is the difference between employing a gardener or cleaner and employing a painter and decorator, plumber or electrician?
When we employed a gardener, for a while, when we had a project that had become beyond me, I treated him like any other workman. let him get on with the job and offered him tea/coffee at regular intervals. I would do that with a cleaner as well.
They do not want you harrassing them round the edges and getting in their way, so do not do it. Go and sit somewhere out of their way and leave them to it. Do not waste their time in idle chatter and say thank you as they leave. Remember you are PAYING them, they are not doing it for free, Would you feel 'lazy' if paying someone to paint the outside of the house or bedroom?