It's so hard with little kids. I know. Sometimes I think the only reason my house was liveable was because I worked full time and no one was there during the day.
When I quit working, I had the same thing you have. What I did was start pitching stuff out. The less you have, the less there is to lay around. Start with the closets. That's the best place, mom. Get everything out that is broken, missing pieces, doesn't fit anymore, etc. THEN pare down. Do your kids need all these toys? No, they don't. Have a throw away bag and a Good Will bag. For the clothes, have bins or boxes that are labeled Winter Too Big, Summer Too Big, etc. With the change of each season, put clothes away that are no longer in season. Have them in the top of the closet so the kids can't get up in the bins or boxes. Don't buy as many clothes. Honestly, they grow out of them so fast that there is no reason to have so many.
After you've done the closets, choose ONE room to tackle. Spend 20 minutes a time on it. Have the kids in the room with you. Shut the door so that they won't leave. Have a special activity for them in the room before you start. Get rid of what you don't need/don't use. Just do it. Once you've gone through every single thing in that room, organize what's left. Drawers. Closet. Flat bin(s) under the bed? Would that help? Think of creative ways to do this. ONE room at a time.
For common rooms, have a large basket sitting in a corner. ANYTHING that belongs in a different room other than the room the basket is in needs to be put in that basket. Enlist the children to help fill the basket with things that need to be taken out of the room. Then go to the other rooms and deposit what goes in there. Have the children put the items away while you stand there watching with the basket. Then go to the next room and have them put things there. If you ALWAYS do this at the end of the day with the kids, they may be willing to keep things a bit cleaner. OR they will think that clean-up is fun. Make sure that their favorite activity of the evening is withheld until the clean-up is done. The baskets should be empty before the kids get their evening fun.
For laundry, I put a load of clothes into the washer every single morning. When I walked in the door in the afternoon, I put them in the dryer. Even though you're home, do the same thing - turn on the washer right after you finish in the bathroom in the morning. After breakfast, run in and put them in the dryer and put the next load in.
One of the things that was hard for me, mom, was to put the clothes away RIGHT AFTER taking them out of the dryer. I had to MAKE myself. But it was worth it. I'd do that before I'd wash dishes. It's easier to let the clothes go because the dishes were such a mess in the kitchen. But I'd always HAVE to get to the dishes. I'd end up with a huge mound of loads and loads of clothes and then I'd be spending an hour on putting them away. So no more of that. I simply would not allow myself to do it - I put them away as soon as I got them out of the dryer. Life was SO much better that way.
If you can cook two dinners at a time so that the weekend's cooking is done, your life will be easier. Can you do that? That way you can keep up with stuff easier on the weekend and the house will be easier because you won't have had to cook so much while you are working.
I hope this helps. It made a big difference for me.