Nobody has ever really said anything about the condition of our house/what condition it must be in. We are clean people and try our best to keep on top of the dirt and hair that dogs do create. I hate having a doggy smelling house, so I try to make sure that doesn't happen. Right now Ripley does have a skin thing going on that makes him smell rather doggy and it's embarassing when people come over (not sure if they notice or not), but even so, my house is clean and tidy, the dogs are fed good food and are bathed/groomed, the yard is constantly kept clean, etc. So if people complain, well, that'd be pretty rude. But like I said, nobody has ever said anything. Even though I'm sure some non-dog relatives have thought we must live disgustingly.
I did get a comment on the train a few weeks ago though about how gross dogs were and that I shouldn't have filthy creatures in public. They were just being obnoxious so I sternly told them to knock it off and told them that my dogs were obviously well groomed and are just sitting politely waiting for our turn to get off and that I didn't appreciate their comments.
Dogs certainly do gross things and do create dirt to an extent, but to be honest, I've met and known people who are far dirtier than any dog I've ever been around.