I ask because I have let them out to run on the linoleum floor a few times, and this last time it appears that they both pooped and peed on the floor while they were out. (Clearly I need to come up with a better plan for exercising them, but that's another question.) When I picked them up, they were noticeably wet on the bottom, like they had walked through their pee puddles --yuck. I just put them straight back in their pen for now.
Should I find a way to give them a little bath? Good or bad idea? Are they self-cleaning to the extent where they would clean this off themselves?
Other people fill the bathtub with just an inch of water or so and bathe them that way. No matter what, the pig will struggle and may try and jump out of the water. I took to doing my method of bathing because it seemed safer to be holding the pig. I could turn it properly to get it's whole body wet/washed. I tried bathing a pig in a five-gallon bucket once and the pig actually leaped high enough to jump out (and possibly hurt itself). That's when I went to my sink method.
I would also only recommend bathing them if you really have to. For example, once my older gal got spooked and ran straight through a piece of coconut cream pie that I was eating with chilling with her. Lessons were learned about snacking and cuddle time LOL and a bath was had. Water was enough to get her clean. If your pigs get into something sticky or particularly smelly, a tiny bit of small animal shampoo is adequate. Just make sure they are rinsed thoroughly if you use shampoo, as it can cause dry skin.
Drying is the most important part of the bathing process. You have to make sure they are COMPLETELY DRY before letting them back into their enclosure. A wet pig is a cold (and susceptible to illness) pig. You can use a hairdryer on low (and cold or warm). Keep your hand near your pig so you can gauge the temp of the hairdryer. I usually close the bathroom door and let my girl run around the small space as I sort of chase her with the hair dryer if I think towel drying isn't going to do the job. You can also just get like 6 towels and towel dry your pig for a while. In my experience it takes over an hour to dry my girls that way, though. I usually towel dry for about 20-30 minutes, then finish off with the blow dryer.
Generally, you don'y need to bathe your pigs. Avoid it if you can. You can also purchase small animal wipes if your pigs get a little dirty but not dirty enough for a bath. If one of my girls is a little pungent (which is rare) I usually just give them a quick wipe down with a small animal wipe. You can purchase these at petco/smart, I believe.
I think for your situation the wipes would be sufficient. They are going to clean themselves anyway, but wiping up a bit of the excess urine wouldn't hurt.
Also you should probably just lay down a big fleece blanket if you are going to do floor time on the linoleum. That way you can just fold it up and toss it in the wash and your pigs won't get soaked. You can get a HUGE fleece at Primark if there is one near you or you can find pretty big ones online. This one is on sale on amazon and it rolls up into a bag:
I've noticed when I put her back in the cage, her cage mate will follow her around and keep sniffing her back side for a while. It's funny to watch.
The biggest bath she received was here entire bottom side when peed on the kitchen floor then sat in it. I toss a couple lap fleeces on the floor in the kitchen and they are so used to fleece now, they almost always come over the the fleece to pee now.
The key for me has always been limiting the bath the areas that need it.