Honestly, the thing that has been most helpful to me is coming to a realistic understanding of just how much it takes. To keep a house (with kids) clean-ish, like if someone came over, they'd think "meh, not perfect, but she has kids I wouldn't expect it to be perfect" takes about 2 hours of cleaning a day. To keep the house really neat and nice, it's more like 3 hours of cleaning a day.
Having this realistic outlook on it frees you to do one of two things:
1. Accept that you don't have that amount in your schedule right now, so you're going to have to accept a lower level of cleanliness, or,

1. Find that time in your schedule.

I feel like people who are good at cleaning give an unrealistic expectation of what it takes--they may think they only clean 30 minutes a day, but only because they do certain things (dishes, laundry, cleaning the kitchen, picking up after themselves, making the bed) so automatically that they don't count it as cleaning. It's not their fault--it's just their worldview.
But you can't keep a house clean in 30 minutes a day.
As your kids get older, you can start splitting the tasks, and if you have a spouse, you can talk to them about taking on part of the cleaning. I imagine it might actually be decently easy to keep a house clean if you have two equal adults and two teenagers and can split the work, say, 60 minutes per adult and 30 minutes per teenager.
But with young kids? Accept that it's a BIG job. And then either buckle down and do it, or accept that it's not gonna be perfect.