I agree that the servicing of the room is something I have paid for, and it's one reason why I enjoy hotels.
I like my bath and basin to be foresnically cleaned every day - something I rarely have time for at home. as far as tidying goes, I have no objection to anyone tidying up and putting things neatly. i have never experienced anyone tidying up in drawers, usually just what is visible. Anthying I don't want, cusions etc., I ask to be removed on the first day.
With regard to towels, a lot of hotels adopt the European system - if you leave your towel in the bath they change it, and if you leave it on the rail, they fold it until it's in the bath. You can have your towels changed every day if you wish, but they usually leave a card adivisng of the detergent effluent in the sea, which they are looking to reduce.
It's all a matter of inidivudal tastes, but most hotels adopt the proceedures i have outlined and if I have any issues or requirements, I advise reception - can't expect them to be mind readers about individual guests' wants and needs.