Perhaps the pandemic has been good for highlighting things that need to change, in order for things to be fairer for all.
I think you are not unreasonable at all for expecting the house not to look like a tip when you got home.
As to whether you were unreasonable to lose your cool over it, would depend on how your children had been brought up to think of their role in the household. If they are used to you always doing everything for them, then they are not miraculously going to suddenly start pulling their weight. If on the other hand, they have been taught by you from an early age to keep things clean and tidy, then you would be within your rights to be very cross with them and to have given them a blast with both barrels!
Teens are well capable of folding up laundry, preparing food, clearing up after themselves etc, all as part of being in a family and having respect for the other people in it.
It sounds like you will need to either have a refresher talk about what your expectations are, with your children and your husband.
Or, if there has never been much emphasis on each person’s responsibility to the household and the people who live in it, then the time has arrived to start out on the much more challenging reshaping of how it would be fairer to you, for all to start pulling their weight.
In either case, the chances of this being successful will rely on there being concrete tasks being set out, with clear accountability assigned.
The teens will learn - sounds like they have already taken on board the modelling shown by your DH over the years. I think his MO will be the harder one to change, unfortunately.
For the sake of your sanity, I urge you to grasp the nettle. A good mum obviously cares for her children, makes sure they are wearing clean clothes and are well fed, warm and secure, but also tries to make sure her children are not the future nightmare housemates or partners, by teaching them to take responsibility for themselves and to think of others.
Go easy on yourself for the rest of the day. You can let your DH know he needs to be in charge of preparing the evening meals for the rest of this working week, and when you come home, give everyone a big hug but tell them that some things are going to have to change, going forward.
Best of luck to you, and don’t be discouraged, because it won’t happen overnight, perfectly, but you will get there. And it will become an amusing story to be trotted out at family gatherings in the distant future. “Remember that time Mum lost her rag during the pandemic and called us... ANIMALS?!?”