Yep, unless they beat me to it I remove the condom, dispose of it, then nip into the bathroom and run a small bamboo washcloth under the hot tap, pop back in and clean them up with it, then have a cuddle usually. I do also have wetwipes if they need any more cleaning up, but the hot washcloths have proved quite popular.
I see it all as being part of the service, plus I have a special bin for condoms: don't want them in the normal one, or even worse, flushed down the loo.