Wow, I waste time feeling guilty because my place is a mess... It is hard to strike the right balance. My mother kept a very clean house - and there were six of us living on a farm. I have a one bedroom apt and it's messy. I've learned (mostly) to accept this as my way of being. Things are clean, just not neat.
Now, I freely admit to letting my daughter watch a movie or cartoons just so I can relax, or get something done that needs doing. But, if you truly are letting the kids watch too much TV so you can do more cleaning, often, I would suggest stopping and taking a breath. You are right that they grow up fast (I've raised two into their 20s already, and the time just raced by) and doing things together is what creates memories.
I am not saying you should just let things go, but you might want to reevaluate what "needs" doing and what you "like" to have done. Think about how many hours you spend cleaning versus interacting with your kids. See if you can add one thing to do with your kids, and let one thing about house cleaning be delayed. As they get older, they can help you with some things. I remember that helping my mom gave me more time to talk with her, and it felt good to help.
And just a question - how much does your husband help to clean? the one who doesn't want a cleaning person...