Usually, the cleaners sold for household use are only mildly irritating to mucous membranes when the fumes are inhaled. That's why they typically say to use them in well-ventillated areas. If it was going to affect your mucous membranes, you'd already know it, because your nose would feel like it was burning or your eyes watering. Don't sniff it intentionally is basically what that means.
To get into your bloodstream, you'd need some really prolonged exposure. A little bit on your skin that is quickly washed off won't be a problem. As Monique already mentioned, cleaners for household use are more dilute than for commercial/industrial use because they know the users are not going to be as careful about safety measures.