It depends on the service.
If you order a service that requires a provider to enter your home, the answer is yes. This is best for all of the parties involved.
If the service you requested is done outside, then you don't need to be home. As long as the provider has access to any gates they will need to get through.
For example, if you order lawn care, then you don't need to be home. If you order a house cleaning, then you will need to be home so you can let the cleaner in the house. You're welcome to leave after you let the provider inside the house.