Yes! Cleaning your recyclables before placing them out for pickup is the best way to prevent contamination and from wildlife getting into your items. As part of the pickup procedure, it is imperative that your recyclable items are clean and rinsed from any food residue/other debris as recyclables that are contaminated are not able to be recycled.
Think about it this way: would you want to handle and place dirty/contaminated recyclables in your vehicle? If the answer is no, then likely your driver and the recycling sorters don't want to handle the recyclables either. There is no need to dish wash or sterilize your items (bonus points if you do), a good thorough rinse will usually do the trick!
