I sympathize... I have 2 kids. Even at their ages, they do that when I come home from anywhere without them.
Firstly... you NEED to make a ROUTINE of it when you come home... try not to feel stressed or pressed about it. You make clear to them that when you come home they BOTH get hugs and kisses. AND your Husband too. THEN, Mommy puts her purse away, and changes clothes etc. THEN, you also need to enlist your Husband in this and HE can verbally say... okay kids let M. put away first/change clothes... then get them distracted.
OR... after giving hugs/kisses upon arriving home... you keep walking toward your bedroom... and tell them "Follow Mommy but I have to do my routine first..." and then they can still talk and tell you things but at the SAME time... YOU NEED TO DO YOUR ROUTINE. Tell them "This is Mommy's come home routine..." and over time, if you do that consistently, they will understand and do it WITH you. Maybe even have the kids (if they can) "help" you carry something for you... and put it on your bed or the kitchen table... then you keep on with your routine... and THEN when you are done... then sit down with them and then you tell them that everyone takes turns to have Mommy. You can breastfeed WHILE your older one is talking story to you... that is what I used to do with my son and my daughter was older and in school.
The MAIN thing is: HAVE A ROUTINE upon coming home. Tell your Husband too. So you ALL know... and that it gives Mommy time to come home and put away/change clothes... then sit and have a snack. Or, have a snack together. Or, while breastfeeding, they can bring YOU a snack and talk story at the same time etc.
When my Husband comes home from work... my kids do that to him too. BUT, they KNOW his routine... he verbally tells them... and they then cooperate because it is a ROUTINE. Daily.
And yes, we then ALL spend a lot of time together and talking story and the kids telling us about their day. It IS important.
Don't feel guilty. Its okay. It is just organizing you/them and having a routine about it so it is not all crazy-willy-nilly when you come home.
All the best,
Susan