Do you do the dishes while guests are still present or not?

If you invite friends/family over for dinner or coffee, do you immediately wash the dishes while your guests are still there or do you wait until they leave?
I know people who do it both ways, but I personally put the dishes in the sink, go back and talk to my guests, and worry about washing the dishes later. I think it is kind of rude to start cleaning while your guests are just sitting there.