That's the way it is. LOL! You sound like me!
No, really, I try to keep a neat house, but the same things happens. Just think, that when they grow up, it WILL subside, and you can purge the "kid" toys.
I think of it this way... I keep the house neat... but it's okay if it is a toy & child haven. Well, we DO have kids and I am proud of that! No apology needed. Second, I LOVE that my kids can have toys, and be able to explore and be creative. That is important to me.
On the flip side... I have a friend that is very "anal" and a perfectionist. Wonderful woman...BUT if you go to her house (she has a 3 yr. old & a 5 yr. old), you cannot even tell that she has kids! It's sad, to me. The kids toys are all neatly placed in labeled/categorized bins... and in the closet. IF her children want to play with something, her children have to ask her... then they can only play with it on a certain table, or floor area. THEN they have to, when she feels it's time...put it away. Her children are like "robots"... meaning, they have no sense of NATURAL creativity or impulses.. and are very mundane. Nice kids, but so deprived of spontaneous fun moments. Everything is so "planned" and "neat" in her house. Her kids lack the "thinking outside of the box" ability. I find it so, so, sad and stifling. And her kids can't think on their own... because the Mom is so structured and picky about the level of "neatness" in her house. It looks like a magazine. Not a natural home with children.
So, there is that flip side as well.
Sure, I, and we teach our kids about putting away (which my kids do fine for their age level), and that's fine. But I'm not going to hold a hammer to them to do it... and expect my house to look "un-lived-in" either. It's fine. My level of tolerance and acceptability is just that. That's me. I rather my kids enjoy creativity & playing, while being courteous, and keeping the house neat as is acceptable, for what I expect.
If anything, get cute nice shelving, and put everything on it. Or those plastic "drawer" things to put the loose pieces or smaller toys. We also use hip looking woven baskets to dump everything in. But, we leave it out where the kids can get into it... I don't expect a "see but don't touch" toy room.
Good luck!
Susan