As others already rightly pointed out, God does not expect anything. Expectation is limited to temporality and imperfection, as it entails waiting, lacking present knowledge, and hope in a future. God simply knows that we do in fact sin and make mistakes.
Knowing that we do sin and make mistakes does not reduce His call for us to be perfectly good and without sin. We are invited to join Him in heaven, where we indeed would be perfect, purged of all sin. Also keep in mind: we’re called to be mirrors of Christ, to follow His Way. Was Christ not perfect?
Mistakes are probably a result of sin, most notably our corrupted post-Fall condition, with our higher natures disoriented and subject to the lower ones. Jesus took on most of the effects of original sin, such as death or the mental suffering from feelings of isolation, so I wouldn’t be surprised if He had accidentally misplaced His sandals a couple times too, or even failed to carry a one while showing his work.
