This year youngest DD turns 4 and life is not perfect but tidier. Small children take up far more tiime then big ones. Things can wait for a minute and be combined rather then having to constantly be ready to react to a dirty nappy.
During bath time, I can now be in the same room but fold a towel or put a a spare loo roll out whilst they splash around, impossiable a couple of years ago.
A friend with a 6 & 4 year old has an immaculate house and i know she winces at mine. I looked after her child with mine yesterday and we made cakes then got the paints out, after painting each others hands and feet, they then decided to strip off and explore the dressing up box all before elevenses.
The house looks like a bomb hit it, footprints all over the kitchen floor, loads of washing but everyone was happy and we have some great pictures hanging around drying.
My friend, who is different to me, does n't have any paints in the house but leaves that to nursery. The tv is allowed on all day and she cleans whilst DD is sat in front of it not making any mess. Does n't bake but goes to the park loads.
There has to be a balance, I don't think a tidy house happens magically, my friend and I are not sat on our arses all day but with small children you have to decide whether to spend the time involved with your child making a mess or whether for your sanity you reach a higher level of cleanliness eg.no crumbs in cutley drawer and play mostly outside the home environment.
If you have small children, no time and a messy house do not dispair, little pockets of time appear as they get older.