Do not be hard on yourself. If the same thing happened to me (coming home to a big mess), I'd be upset too.
Here's my suggestion, as a person who is a bit particular about certain aspects of cleaning: break it down for him. What do you need for him to have done? (I am assuming he's a SAHD?) Do the dishes need to at least be in the sink, or stacked beside it? Would it help if he did a walk-through once a day for all the clothes to go into the hamper/laundry pile? Talk to him about what he thinks he can reasonably do during the day?
Guys tend to compartmentalize, from my perspective. I believe women are often better at the start/stop of caring for children amidst accomplishing the household tasks. My husband gets up early with our son on my 'sleep in day', and not much gets done. He likes to play with him most of the time, so when I come down, there are usually dishes on the counter and Kiddo's in his pjs. So, the talk: "Could you make sure the bowls you use for cereal are rinsed? Would you send him in to get dressed right after breakfast, please?" They are so into their 'guy time' that some of this gets forgotten, so I do try to remind him in a friendly way, perhaps the night before.
I also post a schedule of what needs to be done for our house to work well, and that seems to help. Put it on paper, talk it over with him to see what works, re-tweak, and give it a try for a bit. If something isn't working, figure out how to move that job to a different time/person.
Hope things go better for you.:)