I feel that way as well. Every once and I while I will take a day off and completely clean the house. (I work full time out of the house so I will still send the kids to daycare.)
My husband came up with a cleaning chart. One day I vacuum the main floor and he vacuums upstairs. One day we each get a bathroom, another we each dust a floor of the house, etc. Dishes and dinner are my every day job. My husband does a load of laundry every day to make sure we don't get backlogged. We even have the kids (6 and 5) help out. They dust their rooms or dust off the TV screens, etc. Your kids are kind of young, but just picking up toys would help. We also use a sticker reward system and so many stickers earns them 25 cents or gum or a trip to the library. It really has helped to have everyone helping out.
Staying home is more than a full time job. If your husband can help out, even minimally, it would help you out. If your kids started with some basics, they would have fun too. My kids will fight over the swiffer duster. :)