There's no way you should do it. You have to talk about this problem and set a schedule of cleaning duties. Because if you start doing it, you won't ever get any help from them and cleaning will become an essential part of living with your roommates.
Personally I wouldn't do it but i understand how annoying it can be! If i was you i would talk to him and suggest maybe helping him but dont do it yourself! Means they might think every time it gets dirty you'll do it.
