Depends to on if the original company was happy you using similar name to theirs while you were self employed.
The problems occur when you form a limited business. If another company is registered already with the same name, you would have to change it. You may as well start off using different name to begin with, may be easier all round.
Besides, Sparkles Domestic Cleaning Services may be in Yorkshire.....but they may well be crap and have a bad name......may think you were from the same outfit!!!
Have fun

Tim