co-workers frustrate me...

Keeping a clean and tidy workspace (including putting waste products in the appropriate containers/areas) is part of the job. This should be detailed in their job descriptions and or work procedures. Every new employee should read these and sign off on them. It's also good practice to have them redo this periodically. It's the supervisor's responsibility to ensure these requirements are carried out. I have a colleague who is a painting contractor. He was having a hard time getting his guys to clean up their brushes and rollers at the end of the day. (They would simply toss them and get new ones the next day.) He has cut his painting supply costs by drafting up written procedures and making sure his crew adheres to them. The boss needs to set the expectations and make sure they are followed. You don't have to be a dictator about it, but you need to constantly reinforce the importance of controlling costs.