For years I've done mine the same way - hot soapy water (daily) and after cooking with raw meats, poultry, fish, etc - hot soapy water followed by a good rinse and then hot water with bleach in it. I use a cleaning rag never a sponge because they can hold bacteria - paper towels are good for spills but the just don't clean. Now they have those wipes - those are good for a fast wipe - but for a good thorough cleaning - I just do it the old-fashioned way! I don't like to use the chemical cleaners like Mr. Clean or 409 because the counters are used for foods. Bleach is a different story - it is a sanitizer.
Everytime I am in the kitchen cooking I am wiping the counter top and after dishes are done - then I know it's done and cleaned till the next time!