For some reason (judging by Fritz Lang, Gundam, etc.) humanity has some deep desire or curiosity for robots to look like humans. I wonder if cats want robot cats?
I don't think you can draw that conclusion. Most people find humanoid robots creepy. I think we have a desire for "Universal Robotics". As awesome as my dishwasher is, it's disappointing that it's nearly useless for any other task. Yeah, it washes my dishes, but it doesn't was my clothes, or put away the dishes. Our desire for a humanoid robot, I think, largely grows out of our desire for having a single machine capable of doing anything.
Of course, there is also the thing where authors and artists tend to draw anything with human intelligence as humans, from robots to aliens. Maybe it's the social reason you mention, or they just unconsciously have assumed humans to be the greatest design to ever exist. But even despite this, in a human world, I expect the first true general-purpose robots to be "standing" upright, with one or several arm-like limbs.
One robot that rules them all is preferable from many perspectives, but we're simply not there yet.
Also it would just be compatible with our current world.
We have lots of those.
I'm actually surprised or interested that this isn't more of a thing, it doesn't take any high tech either. I suppose people like having their own stuff, or people can't be trusted, or it's prohibitively expensive to outsource food / laundry (even if especially in the US ordering food or eating out is very common).