I don't care if it is humanoid or not, but given that our house is built for humans to interact with it seems reasonable that it should fit into that space.
Now the question is is it riskier to have basically a stranger with strong arms in my house near my kids, or a robot with strong arms in my house near my kids?
I feel like a robot has the technical capacity to see behind it and stop (I have many times for example been using the vacuum and moving my arm forwards and backwards and whacked a kid in the face with my elbow on the backswing because they've walked up behind me and I've not known, but a robot with literal eyes and radar in the back of its head would spot that situation and freeze). Similar to self-driving cars: they have lots more eyes than a human has, and can be looking everywhere at once etc.
But do we trust the programming? Do we trust the human cleaning my toilet's "programming" (thoughts, emotions, motives etc)?