BTDT - doing it everyday in fact. One thing I learned is not to tell my dh what I think I might get done today or he sees it as a balck and white to-do promise. But if I just say nothing, he is fine. I then throw in an "I did ____." For good measure.
And I never start dinner till dh gets home. Haven't since AL was born.
I have the poem in my siggy (and another similar one) hanging on my wall. I keep in mind that though both are important tending to children trumps housekeeping in "triage".