The general rule to follow is: perfective verbs put the focus on the result of a one-time action. Use an imperfective verb if you don't want to stress this.

I have to get my room cleaned.
Obviously we are looking at the result of a one time action.

I have to clean my room.
We don't know if you mean right now, or repeatedly every week or month. It's a general statement, focus is on the action, not the result.