I used to be a clean freak and expect everything done all the time as well when my kids were little and it seemed easier to do then. Through the years I have had to decide which is more important, the house or spending more time with the hubby and kids. As the kids get older your time gets more limited and seem to be at home less the older they get. My kids are 15, 13, and 8. The oldest one mows lawns and works part-time, is involved in the youth group and has drama practice 3 times a week, and in Royal Rangers. 13 year old is also in drama, youth, Missionettes girls club, and helps out with nursery/babysitting for extra church events. My 8 yr old is in baseball and Royal Rangers which has a lot of campouts and outings. I am also a ministry leader and involved in several different ministries at church, work part-time, and play on a coed softball team for exercise as I don't have time or money to pay to go to a gym all the time. My husband works 2nd shift so isn't home when the kids are home so we squeeze in family time on Saturday mornings before he goes to work at 2 and occasionally he has a weekday off as he works 7 days a week most of the time so I am taxi Mom and keep up with all our schedules and everything by myself most of the time and still manage to find quality time with the kids to talk or play games together. I even manage to find a few hours for myself to read a book or catch up on email. We do work as a team to keep up laundry and house chores. Although my house is no longer spotless, it isn't a pigsty and is presentable most of the time other than some clutter around the office area which seems to be where everything gets piled in a hurry. Just telling you all of this to let you know, enjoy them while they are little, things get busier when they get older and get involved in sports, school, jobs, and other activities.
My oldest was about 5 is when I decided that priorities needed to change or I would go crazy trying to keep up with everything and decided that life can be exciting if you don't dwell on trying to be the perfect housewife. Teach your kids young how to clean and cook. It will benefit you a lot later when they get older and it won't seem like a hassle to get them to help because they started young and it is just a part of life and they won't argue with you so much when they get older.
All 3 of my kids can cook meals, even the 8 yr old likes to cook hamburger, peel potatoes, cook mac-n-cheese (which is his favorite dish), spaghetti, and other things. He can't cook a turkey or anything big like that yet but can have his turn to fix a meal through the week.
My 15 yr old son can cook everything we cook and if I am running late, will just call and ask him to start dinner and he will come up with something good.
13 yr old daughter can cook well too. The boys like to cook more meal type stuff and she likes to bake more but can cook meals too.
I see your daughter is 2. She is old enough to help put dishes away especially the silverware and will also teach her sorting skills,keep her room clean and put her toys away when she is done playing with them wherever she plays, and put her own dirty clothes in the laundry hamper or basket.
You have to figure out what is most important for you not what everyone else thinks of you. Most of the time we as women put more expectations on ourselves than others expect out of us and just end up wearing ourselves down in the end. Take time for yourself and spend time with your kids, They grow up so fast and before you know it they will be teenagers and you will wish you had those extra hours back you spent trying to keep everything spotless. Get your kids involved as much as possible with the housework and they will enjoy helping Mom out.
As far as panicking about the 2nd baby coming, I don't have much advice for that. You will enjoy having 2 when the baby gets a little older and becomes a playmate for your oldest one. I think having more than 1 child is easier because they entertain each other and are not wanting all of your attention all the time like 1 child usually does. Your oldest will probably enjoy helping out with the baby, get the diapers for you and talking to her and whatever you can think of having your toddler help out with. Getting the older one involved as much as possible helps keep the jealousy factor down and makes them feel important.
Don't sweat the small stuff and take a break.