This is very typical of your daughter's age. When I was working full time I too had the guilt, thinking that my daughter was acting this way because she either missed me or was mad at me for being gone all day. Well, I've stayed home since my second was born and guess what? Same thing! All the same behaviors, only now I get a full day of it instead of a few hours concentrated in the evenings. Ha! Anyway, I've found a couple different things that have worked in this situation. When I was working, I had to take a look at how I spent my time when I got home. What do you do when you pick her up from childcare? What happens when you get home? I found that I was hitting the door in a rush when I got home from work. I mean, I needed to get dinner started, clean off the table, load/unload the dishwasher, change a diaper, pee, change into comfortabel clothes.... All these things needed to happen right away. However, in the midst of it, I had this baby that was begging for my attention and my solution was to put a DVD in to get her out of my hair so I could do all these things. In my mind, I would take care of business, then sit and play with the baby for a few minutes before we ate. So I spent many nights doing just what you've described. Either cooking with a kid on my hip, or cooking while the kid was not on my hip, but following me around the house crying. Problem was that the kids couldn't wait for the attention.
Anyway, I decided to come in the door and spend 30 minutes with the baby before doing anything else. I did go to the bathroom and change into comfy clothes, but she tagged along for those things (ask me if I remember a time when I could pee alone...). It made a world of difference in the rest of the evening. We really didn't eat dinner that much later than when I was fighting a kid off while trying to cook, and the whole evening was much more peaceful.
The other method for this is room time or playpen time. I've found the both of my kids like to wind down with their own stuff after being gone all day. While I was working, I would have the time with my daughter first, then she'd play in a playpen (out of sight range) or in her crib for the next 15-20 min while I got dinner started. By then, daddy might be home and he'd go get his baby fix. Establishing playpen time isn't easy -- it was met with a lot of crying. But once it becomes a routine, it's expected and you'll have less fuss about it. It would never last more than about 20 min though, and we started it in increments -- 2 min, then 5, then 10...
With two kids, and with me staying home, the kids would still melt down as soon as I step foot in the kitchen. It was so bad that my husband said once "I don't even want to come home." Really, the 5:00 hour is just a bad one no matter what. Our solution to that was that I simply did not try to cook until my husband was home. I give the kids a light snack and play with them until my husband gets home -- legos, drawing, watercolors, and even sit and watch TV/DVD with them (They won't watch on their own and stay out of my business while I cook, but if I sit down with them, they happily interact, dance along, etc. -- go figure). Once he's in and settled, he does "Daddy time" with them and I can get a meal on the table. There are even plenty of nights where the kids and I are so involved in our fun time that Daddy fixes dinner.
Now that the little one is 2, I can actually get some "help" in the kitchen from both of them, so it's actually possible to begin the meal process before hubby is home. The 4 yr old can set the table while the 2 yr old stands in a chair at the sink and "washes dishes" (splashes and plays with plastic dishes in a bowl of soapy water). Before they could "help" I would often let them play in the tuppeware cabinet, let them "wash dishes" in a bowl of soapy water on the floor (on a towel!), etc. When my husband would cook, he would let my daughter help a lot, even from the time she was under a year old. She would pick things out of the spice cabinet, scoop and pour ingredients, transfer chopped veggies from cutting board to a bowl, shake salt on things, push numbers on the kitchen timer or microwave, wipe spills with a paper towel, etc.
This too shall pass. Hang in there!