The only houses I have ever seen that are "clean" or "perfect" are model homes - simply because 1) they are empty, 2) they have someone come in to clean them weekly, and 3) they don't have kids in them!
I thought I had to keep a perfect house, but I learned to figure out what my definition of a perfect house is. And I had to decide what my definition of "clean" was because I was stressing about keeping it clean all the time. I figured out that the kids won't remember how clean the house looked but rather the time I spent with them. Yes, I had them help me whenever possible. At 2 & 3 they can help by picking up toys & putting them away where they belong, taking a wet cloth to wipe up spills-helping Mommy so to speak. I always thanked them and hugged them telling them how helpful they were and how much they were appreciated. And as they got older their "family assistance" responsibilities increased age appropriately.
For me "clean" came to mean mopped floors and putting stuff away. Bathrooms were thoroughly cleaned once a week, with spot cleaning as needed. I had 4 bathrooms at the time I had my toddlers, so I made sure to have them use just 2, to make it easier on me to clean them. I came to enjoy dust bunnies because it meant to me that I was spending time with my kids [and when they came up I knew then it was time to do a thorough vacuuming!LOL].
My house now is not spotless, by any means, but it is "lived in". Most things are put away, the dishes are in the dishwasher and the counters are clean. I do a thorough cleaning every 2-3 weeks, and wipe up as needed daily.
I can't imagine what the pioneer women did without dishwashers, washing machines & dryers, vacuum cleaners and all the wonderful appliances we have to help us! Can you imagine!! LOL :)
And, one more thing-when your friends or people come over and tell you you have a beautiful home, just say "Thank you", and enjoy the compliment, because probably YOU DO!! :)