never ending cycle..HELP!

Ok so i need some advice..i desparately need to get and STAY organized. I am not fortunate enough to be able to stay home with my little one during the day and have "time" to keep up with daily chores around the house. (not complaining by any means..I am very content with my current job, it's a great place to work and I make more than most Medical Assistants so I definitely cannot complain!) But I do feel really guilty that because I work the majority of the week my home is suffering from it. Of course when I am home in the evenings I try to keep every room in some kind of "order." But if I'm truely being honest, the last thing I want to do when I get home from work is clean. (I think all working moms would agree that it's more of a chore when it's a "second job" that is NEVER done) So in all reality the time that I can dedicate to tidying up my home is once Nicolas goes to sleep. I really only get the kitchen done because I cannot stand to let dishes sit in the sink. I prepare (most nights) our lunches for the next day and then by that time I'm exhausted! So of course I want nothing more than to snuggle on the couch with my hubby and catch up on our latest shows. I do just that. I alternate the Fridays that I have to work and even when I do have to go in I'm usually home by 1:30 at the latest. This last Friday, I felt so guilty because I opted to leave Nicolas at daycare until around the usual time I pick him up just so I could clean the house with out disruption. (what am I going to do when I have TWO little buggers running around????) (I'm trying to calm my anxiety as I continue) That's why I need to get down a habit NOW! I feel like I'm super lazy during the week because I could take the extra half hour to fold and put away some clothes but I just don't wanna..(insert bratty voice here) Then it all gets pushed to the weekend and let's face it who wants to clean and organize on the weekend. I mean I get it there are things that continuesly need to be done like laundry and dishes. Those chores are never ending and I'm ok with that but I feel like I still have so much to work on in this house but I just don't want to dedicate the time it takes. After all we moved in last July and I'm embarrassed to give my prime example. Our bedroom! It's a mess! I was so excited when we moved in because that meant that Nicolas was no longer going to sleep in the same room and it became my and my husband's sanctuary. I constantly see so many ideas that I would love to do on Pinterst for our room to make it more romantic or elegant but I always push it to the back burner because there are toys spued all throughout my house that need to be put back in their bins because Nicolas is no longer awake to play with them. So I ask for any and all tips to help get me on track of what I should do to make my home more in order. Because let's face it, there is nothing worse than when you have an unexpected visitor and your house looks like pigs should live there instead of you. (I may be exaggarating a bit but I hope you know what I mean).

here's the first picture I took today. On our way home from church. I've learned that if I give him a book to "read" in the car he is so much more content than if I were to give him a toy. WE LOVE BOOKS!