There's a lot of automation going on in agriculture[1].
Regarding maids: Roomba's and alike might be starting to become popular in india[2].
Regarding a driver: The average wage for a taxi driver in the u.s. is $12. Not that far from minimum wage[3].
Regarding a cook: I suspect that , a least at current wages cooks make(and even at minimum wages), it's more economically and varied to order food than to have a cook.
[1]last paragraph , http://www.economist.com/news/technology-quarterly/21567202-...
[2]http://articles.timesofindia.indiatimes.com/2012-07-22/peopl...
A consideration: can someone who earns less than $80 for a day's work afford to live within driving distance of your house? In India, definitely; in a US metropolitan center, definitely not. (This reduces the problem to the much-better-studied, "people really don't like relocating thousands of miles away for a job, even if their life currently sucks.")
I lived within commuting distance of Manhattan during grad school on a stipend roughly equivalent to a $10/hour x 40 hours/week. Prices have gone up a bit since then, but only enough to push me 15-20 minutes further out.
That cleaner is likely making close to 15-20 an hour.
We're talking about a 2 hour gig here. There's likely to be at least 2 unbillable hours involved in a 2 hour gig gig, so your rate is already cut in half to $20/hr.
Once you start taking into account all of the unbillable hours (including time spent finding gigs) and all of the downtime between gigs, a $40/hr rate could very well mean you are below the poverty line.
Not if you only get two hours of work! That $80 for 2 hours has thousands of dollars in opportunity costs.
First of all, I doubt there's anywhere in the USA you couldn't get responses to a craigslist ad offering $40/hr for house cleaning.
Second, a 2hr/month gig is not going to pull in anywhere near the responses that a 40hr/week would at the same rate. It's just not the same thing. Try living off freelancing for a while; then you'll know what "2 hour gig" really means.
There are no jobs being created because the unemployed are unwilling to do these jobs.
To identify all the job openings that go unfilled, go live in India or China. Most upper class families have a maid, a cook and a driver (if they are wealthy enough to own a car). This is quite uncommon in the US - instead, we have people who are paid not to work.