It sounds like you are cleaning and tidying up enough times, it’s just that you might need a differenty type of organizing system. I read a good idea in a magazine that says to put a basket at the top and bottom of your stairs, so when you are tidying up you can put the stuff in the baskets and then just move them up or down at the end of the day.
Another thing a friend told me about is the clean sink theory. Never leave dirty dishes in the sink. Either load or unload the dishwasher, or wash the dishes if you don’t have one, every day. It makes a lot of difference in how your kitchen will look. Also, wipe down the counters every day, keep them clean and clutter free.
You might want to invest in some organizing products like shelves and baskets for your mudroom or closets. It’s easier to keep things clean and organized if you have a place to put things.
One of my favorite cleaning tools is those microfiber dusters, but with your pets, you may also need one of those pet hair/lint rollers, a mini broom and dust pan to pick up the daily stuff your pets bring in attached to their fur and then you just have to vacuum about every other day.