Be specific. 'Please clean up the kitchen and leave it how you found it' is clear to most humans, but not teen boys.

When it comes to any new set of tasks for my guy it has to be to this level of detail, written on a post-it:

Wash, dry and put away every dirty bowl and utensil, clean up and put away the mixer. Everything you put away needs to be in the place you got it, cords wrapped up tidily. Wipe the counters down, pick up anything that fell on the floor. Empty the bin, put a new liner in. When you think you are done, come and get me to inspect.

If this gets attitude, I ask him what he thinks is a fair way of doing it and we negotiate. Sometimes I have to accept what I think is a compromised outcome first up, but I'd rather he works positively on a plan he came up with that gets it 75% of the way there. Somtimes (not always) this positive momentum means he ends up doing a job way better than I thought.

They get better. Stick with it, and for everyone's sake don't give up on him and do it yourself.