C.C.
In short, yes, it will get better.
Your kids will get older. Someday, they will be potty trained, and able to brush their own teeth, take their own baths unsupervised, and even (yes!) be able to mix a mean dry martini. But that will be a few years from now. You need help before then.
Here's what I would recommend. (And, sister, I've been there and done that, believe me... my husband and I work TOGETHER for our own business, so I get it! I do!) You can't do it all. Accept that right now. Let's look at a few ways you can alleviate this burden:
1) Give your husband a list of things you need help with. Give the girls a bath, grocery shopping, mow the lawn. Whatever it is. Men are not intuitive. They can't read minds. Just because you told him once that you'd like help doesn't mean he realizes that you need help NOW, TODAY with giving the kids a bath. Yeah, I know, he SHOULD realize it, but he doesn't. So tell him.
2) If your husband is anything like mine, it will get old pretty quickly constantly telling him what you need done. So you need some shortcuts. The lawn is never mowed? The next time your neighbor's gardener is there, go out and ask how much to have your lawn done, too. I was surprised to find that my neighbor's gardener would cut my lawn for $50/month. I cancelled my husband's football package on TV, and voila! Room in the budget for a gardener! When my husband flipped out, I said, hey, I don't know what to tell you, buddy. I kept asking for help and never got it, so now we have a gardener! He got over it.
3) Dinner. Any reason your husband's restaurant can't supply your dinners? If not, look into Dream Dinners (or Dinner My Way, Super Suppers, etc). This is what I do, and honestly, the kids love them and so does my husband. And if he doesn't like them, he's welcome to cook. Seriously.
4) Laundry. How about when the clothes come out of the dryer, sort them into a basket for each person in your house. If you don't get around to folding them, oh well. At least everyone can look through their own basket for something to wear.
5) Housekeeping. Check into a cleaning lady. Same thing as with the gardener, ask your neighbors who they use and like. If your budget doesn't allow for weekly, how about every other week? I have a cleaning lady come every other week, and in between times, I pick up clutter, run the vacuum as needed, wipe down the counters... but then she comes and does the full-on deep cleaning. I can't overstate the amount of stress this relieves in my life.
Bottom line, you can't be all things to all people. Stop trying. Get help, either from your husband, or hired, but realize that those of us who appear to have it all together actually have a TON of help. Hang in there!