Usually. When it's particularly hot I often sleep in the guest bedroom because my wife and I often disturb each other if one or both of us is too warm. When I sleep in the guest room I typically straighten the bed when I get up. In our room we sometimes straighten it and sometimes don't. No rhyme nor reason to when and whether.
I've been getting in the habit of keeping my room presentable so I have been making my bed before leaving for work, its in the corner so I just spread out the comforter and let it settle so it only takes a few seconds.