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I understand you completely as I am a mom as well. Sometimes we get into the habit of just picking up after everyone because its easier than trying to remind them over and over again that they need to do the chore themselves. I have found however that if we don't take the time to teach them to do it on their own they'll never feel the need to develop the habit and we all end up irritated with each other. These negative feelings will fester and ultimately hurt the relationship more than it should. It may take more time but do place a laundry basket at an accessible area in your bedroom so he'll just have to stand there and drop his clothes in when he gets home. Run him through it the first couple of times. He'll get use to it in time.