I would probably begin collecting the Pepsi cans that he leaves lying around, to take to the recyclers myself. Then use that money to buy myself a cup of coffee for my trouble.
When someone in our house begins leaving dirty clothes on the floor, or dishes out, I find it only really bothers me if that same person is taking me for granted, and isn't treating me kindly in other areas. I don't feel as bothered when it's my kids, as when it's my AH, which kind of says something about my current relationship with my AH.
If you think that this bothering you is about much more than just messiness, perhaps a conversation about how in general you don't feel appreciated for all that you've done/do. And his picking up after himself more could be one way that he could show you that he does appreciate you.