Some form of Sanity PLEASE

I have a problem and I keep going in circles with it. Just when I think I have the solution, I try it out, it works ok and then I seem to be right back where I started.
My problem is I want it all. I want a clean house, play time with my kids, time for myself and for my husband and a good meal on the table that everyone can and will eat.
Why can't I obtain this goal??? It is so frustrating. Here is my routine, its not the one I consiously choose, it just kinda happens EVERY day. Once I get home from the bus, the kids want snacks, I get them for them, I turn on the tv so I can do a small chore, and I think then I will play with them after just one load of laundry, well the one load turns into more, I do the dishes while the wash is going, I hang up the laundry or fold it, give the kids a snack because now it is 1030. I keep picking up the mess the boys just made in one room, do more laundry, try to put it away and now its lunch. I make lunch, get boys snacks and backpacks packed for school, go out side with all 3 boys for a 1/2hr play time before the bus comes, but Ryan and ERic on the bus, play with Evan for a few more minutes, come in for snack and some down time before leaving for the bus at 210. Come home from bus at 415, depending on the weather play outside or bring Evan in. tv back on, get the boys from the bus at 435, start supper (oh no what am I going to make cause I forgot to get something out of the freezer AGAIN) Eat supper and try to relax with my husband or go to lessons, depening on the day.
At bed time, the house is still messy, there STILL is laundry and I have had no time for myself or the kids. I am so tired of this cycle, I need to change it I just don't know how. I am exhausting myself.
Today started like any other day, I got the kids breakfast, I did the dishes, got the laundry going, put the boys laundry away. The whole time Eric and Evan were quietly watching tv, I kept walking by them, they paid no attention to me, nor I to them. Finally I guess Eric got tired of this, he got up, went to the play room and started to play. While I was in the bathroom brushing my teeth, and contemplating getting ready for church, he asked me to play with him. so I went in and sat down, and played with the little people with him. Normally I would play for 5 minutes and then get up and go do the dishes, clean a room whatever. Today, I sat there, I let him play and I followed his lead. In this time the wash finished, I ignored it. He then started to pretend He was Megatron, I played along. It felt good. It was then time to get dressed for church and go pick up Ry from his sleep over. We went to church, came home, had lunch and went outside. I hung up some clothes, and threw another load in. That load never made it out on the line, I stayed outside and played in the sandbox, pushed a kid on a swing and tried to dam up the puddle in the driveway. We then went inside for some quiet time, and then started making a craft.
I have a mountain of laundry to do, my floors are sticky, I have dishes to do and Ryan's room is a mess. but I enjoyed my boys today. I gave them all of me.
Lets see how tomorrow goes.........