There are pros and cons to using tire sealant and opinions vary. It can indeed be messy, like changing the oil in your car, if not handled correctly. In my case, the only minor clean up I've had to do is the inside of a tire casing after a puncture flat. It is easily done with paper towels and a little dish soap. A blowout or major tire cut would be a different story but in that case, both the tire and tube would likely be thrown away with little or no cleanup involved.
The only complaint I have with sealant is it can foul your tire inflator and pressure gauge. When necessary, I simply blow out the inflator after use and clean the pressure gauge with a little soapy water.
I suppose it depends on individual preference, the kind of bike and the type of riding you do. Personally, I have saved more time and effort by not changing flats than I have cleaning up sealant spills.