I always ask, “Would you rather I made the bed, or bring the sheets to the laundry room for you?” That way h/she doesn’t have to tear the bed apart after I’ve made it up, or look at a messy bed.
The “either-or” question is also a good way to avoid making your host feel they have to say “Oh, don’t worry about it.” I’m often afraid to ask because if you don’t know people well they might feel they have to tell you to leave it.
Put me in with the bed makers. It’s my way of being respectful as a guest.
I have houseguests with some frequency, and I do wish they’d strip the bed and leave the sheets in the laundry or on the bed for me to find. A few people have asked. Most leave the beds disarrayed, which I dislike. I would not think less of guest who made the bed instead of stripping it, however.