What if I'm willing to pay someone $2 to clear my table, and someone else is willing to clear it for $2?

Are you going to say that we can't engage in this voluntary transaction? Because this is basically the system we have in place now and a lot of people are willing to pay and be paid.

I agree this is the ideal method; however, there will be people who will refuse to clear their table/throw away their trash ... then others will look over and say if he isn't doing it, why should I?

The reply from the restaurant owner would likely be:

1. You bought X, so you now own X, including all its waste products

2. Leaving things you own in places you don't, where other people have to dispose of them, is littering, a crime