The problem with starting off as a young couple with cleaning help, is that you become dependant on it. Unless you both are working 12-15 hours a day, cleaning up from 2 people does not take too much effort. If you can’t cope without children, how will you cope with children?
Granted, if you can afford it, sure splurge. But keep in mind that often the days pre-children are the easiest to save money for the future. Once kids come, things get very expensive very quickly.