I have about 16 fish, and two cleaners. The only cleaning that ever took place was for 1 of the fish, and only for a two week period.
(The fish in question would die of stress in a 10 gallon tank.)
You have to be really careful about adding more livestock to a small tank. Don't add more if you're just trying to witness a cleaner shrimp in action. Chances are it won't happen, and you'll possibly have a less stable tank with too great of a bio-load.
And many fish will not do well in a 10 gallon tank. Make sure to check, and double-check the minimum tank requirements for any future purchases.
What you can do is rinse your hands, and hand feed him some krill, mysis, etc. Not only can you hand feed them, but once they are comfortable with your presence, they will try to clean you.