What's the Recipie?

I am just curious to know the recipie to being a good Mom? What's the secret? My Mom had it, several of my friends have it. But me? I am not sure if I've got it? Here lately I've caught myself wondering what am I doing?
More times than lately I stop to hear one of my children begging to 'have me', or 'do nails', or 'read',....and I won't/don't b/c I'm doing laundry, or gotta finish sweeping the floor, or have to close off of facebook, or need to get the clean clothes all put up.
???
How does a Mom 'swing' it all without having to stay up all night long? Or NOT miss out on the fun with the kids while they are little?
Sometimes I think.."Oh..if they'd just hurry up and grow up.....I'd be so happy?!!! But then at the end of the day, when looking at pictures from the day, or over the last few months, I can see how much they are growing. Even since December Natalie seems to have grown a foot! Her little smile looks more grown up, she's trying to do more on her own! ? Sure, that makes me proud, but no, I still want to do for her...
So...do LOTS of moms just have maids to fold their clothes, and hang them up, (no thanks, I think I will just put up my own clothes:) ) ...
But seriously, i only have two kids, (well, and a f.t. job), and I feel like I'm trying to move the Berlin Wall ?? Wonder why?
Yes, I enjoy my children. But I want to enjoy them MORE! I want to feel the fun, I want to feel like a kid with them. I want them to see me NOT so worried about the big messes they make, and get in with them, and make the messes with them. (Instead, I'm so totally incredibly concerned about having to clean their mess up!) yuck !
Is there a book, or a secret? What and or where is it?

I LOVE MY KIDS!