I think the favorite place in most houses is the kitchen! My mom will have family gatherings and everyone hangs out in the kitchen. Standing around the counters and eating, rather than sitting comfortably in the living room.
Kitchens are just homey places. That's where mom is, that's where the food is. They are usually brightly lit, and overall they are just happy places.
I'm sure it's annoying, but I think when they are not around, you still hear the echo of your kids in the kitchen, the sounds of their voices bouncing off the wall and their feet on the floor.
You could give them a kitchen chore to do, every time they are in there. Then they'd be helping and if they didn't want to do extra chores then they'd go somewhere else!
But I think you will look back, when they are older, and wish they were underfoot once more :)