My snakes are all in a room with hardwood floors, so no need to vacuum. I can't imagine it would bother them though.

As for cleaning, I spot clean daily/as needed. So almost every day. I also do a full enclosure clean every month or so, but sometimes closer to 6 weeks. This includes complete substrate change. All hides, decorations, etc... cleaned and disinfected, enclosure itself disinfected and then everything else is put back in.