I have learned 2 things about cooking. One is to wear an apron, if I am wearing clothes that I would like to wear in public again.
The second thing is to use all that 'down time'. When you are browning meat, waiting for water to boil or something to cool or something to bake, that is your opportunity to wipe down the counter, put things in the dishwasher or return items to the fridge. When you are done with a pot or bowl or utensil, immediately put it in the sink and run water in it. Swish it out, rub a scrubbie over it, and put it in the dishwasher.
Maybe I have learned 3 things--I CANNOT cook in a dirty, cluttered kitchen. Before I start, all dirty dishes go in the dishwasher, all counters and stove are wiped, clean dishes in the drainer or dishwasher are put away, and the sink is emptied.
When I get done cooking, there is very little cleanup left to do.
Oh, dear, I sound very smug. It took me a long time to learn this--when I was a new cook, my kitchen was a disaster, and it stayed that way. But I am basically very lazy, and the last thing I want to do after a nice dinner is clean the kitchen. I do it a little at a time.
I have learned, too, how to NOT make a mess. Pay attention, so you don't scorch things onto the bottoms of pans. Watch the heat so things don't spatter, and use a spatter shield. Use a bag to flour your chicken or beef cubes, instead of flinging flour all over the counter (talking to you, Mom!). Rinse the cutting board quickly after chopping veggies so bits don't dry onto the surface. Floury messes, like your bread bowl, will rinse clean if you let them soak in cold water for a while.