No the velour isn't supposed to look dirty, but it does get like that after a while, especially on the doors where your arms sit, etc. To clean the doors I used that Kitten car upholstery cleaner, it's a spray on foam that you leave for about 30 secs, then wipe off. Or for stubborn stains and the like, you can use the brush on the lid of the can. I also used this on the center console. Works well, looks a LOT cleaner. The seats I just used one of those Britex steam cleaning machines you get from Safeway and that, works nicely, but ask for the upholstery cleaning wand or whatever it's called because I forgot and had to use the enormous carpet cleaning one... Not easy.
I was thinking of doing the door handles in that light colour like in the EB2+... But I'm not sure what colour it actually is, and where to find it. I think it's something like light graphite? Or so I read somewhere. I think it was SPHELL who painted his interior door handles black, but then again he hasn't got velour.