What do you expect from your paid caregiver.

My children and I live with my elderly father. We have two different paid caregivers who assist while Im working. My father's overall health has improved over the past year and he needs companionship more than he needs physical assistance. He can bathe, dress and use the bathroom without any assistance. He cannot live alone though and does need assistance with cooking his meals, medication management, etc.
I would like to hear from others who have paid caregivers, what are your expectations of them We have excellent caregivers. My question is when does going above and beyond the call of duty become intrusive ? For example out weekday caregiver feels as if she is in charge of our home. I have not heard of a HHA who takes it upon herself to do interior decorating of their client's home I understand that my father doesnt mind, but hello...I live here and I DO MIND. If I say anything it will turn into a "Well your daughter doesnt want me to do that so I just wont come back..." There is never a median. Its her way or the highway.
Yesterday I shared a sandwich with my father and she snapped at me or if I do something for him, she's standing over me telling me how to do it and what not to do. So I would like to get a general idea of what other expect from their paid caregivers.