I think you're talking about my house. DH never seems to understand how much really needs to be done to keep the house in order.
Even last night, dinner had just finished up and he was sitting on the couch with our 2 month old, watching TV. I was running around picking up after dinner, washing the table, putting the dishes away, putting leftovers away, bringing our toddler to the bathroom, helping her wash her hands, straightening up our cloth diaper stash (which he just piled up, instead of sorting them by child like we always do), ran a load of laundry....all while the baby was crying. I said in the middle of this all "hey, feel free to switch places with me and I'll take the baby". "Oh no, she's fine" he said. So I kept doing what I was doing and after about 20-30 minutes he yells "Are you going to feed this baby or what??? She's been crying and all you're doing is running around". I said, "Sure, no problem. I asked you about 15 minutes ago and you said she was fine. There are a lot of things I was doing to clean up after dinner and get the kids ready for bed". He responds "You weren't doing anything. I cleaned up while I was making dinner...." (his response goes on and on....but frankly he doesn't get it).
Anyways, he doesn't get it, and the kids (2.5 and under, 3 of them) aren't old enough to do anything about it. He watches the kids while I work (either outside of the home, or at home) 40 hours a week, and he thinks its ok that he does basically nothing for cleaning all day, and that I spent time before and after each day up until they go to bed cleaning and picking up. His response is "why should I bother cleaning up? Its going to look the same tomorrow". UGH.
And I too can never relax. Cluttered house, cluttered mind. Makes it hard to get on with life. I wish someone would understand, but it seems you do.
Sorry I can't offer any help, other than possibly hiring someone to do the things you need to do. I would, if I could afford it, for sure. Other than that, try talking to him and the kids (if they are old enough). Make responsibilities.
And, the mantra that someone else mentioned:
1. If you open it, close it.
2. If you turn it on, turn it off.
3. If you unlock it, lock it up.
4. If you break it, admit it.
5. If you can't fix it, call in someone who can.
6. If you borrow it, return it.
7. If you value it, take care of it.
8. If you make a mess, clean it up.
9. If you move it, put it back.
10. If it belongs to someone else, get permission to use it.
11. If you don't know how to operate it, leave it alone.
12. If it's none of your business, don't ask questions.
I may have to borrow this list :)