Hi J.,
Oh, boy, and yes!yes!yes! I think every mom has the same problem on their hands. Just remember you don't have to be supermom in order to be a really super mom. If things don't get done for a minute because you are with your kids, trust me, they will remember how much you were there for them more than they will remember how clean the kitchen was.
I try to put my kids down for nap (or a quiet time for the older ones) and do what I call "the flight of the bumblebee". I do a quick clean, picking up the toys, gathering up the dirty clothes, sweeping the floor and so on. I also like to use this time to do the things I can't do when they are awake, like mopping or cleaning the bathrooms. I start a load of laundry and then do another one during the day sometime. I wait until it is quiet at night to sit and fold them while I talk to my husband or watch TV. It's all about the fluff and fold here. I try to do crockpot meals, or once a month (or week) cooking where I make things ahead and stick them in the freezer, then thaw them and heat them up before dinner. This doesn't really help with the cleaning but keeps me less overwhelmed because it is one less daily chore.
To get a schedule so that it wasn't everything all of the time, you might consider tackling one big thing a day during naptime (i.e. bathrooms monday, change linens tuesday,clean windows wednesday, etc) so theres never a million things you have to do and then spend the rest of the time doing pick up work like load the dishwasher and pick the toys, make the beds or whatever. At night after dinner load the dishwasher, and mop the kitchen then spend time with the family. When the kids go to bed, fold clothes while you unwind and then put in one more load of clothes before you go to bed. This keeps you from feeling overwhelmed, plus it gives you the evenings and weekends to do a little less and not feel as overwhelmed.
This is what works for me anyway.
L.