Don't clean up after them. Take their dirty, yucky, wet towels that they leave on the bathroom floor and throw them on their beds :-) Grab "their" stuff (makeup and beauty stuff left in the bathroom, etc.) and put that on their bed instead of neatening it or putting it away. Pick up shoes, socks, other clothes and throw them into their room and shut the door. Only clean the immediate area you need to do something for yourself in, not to "feel good".

Keep your own room clean and live there or out of the house (libraries are good); make sure you are somewhere where you don't see the mess so much and just quit cleaning up after them for awhile. Or, make a schedule for yourself and your behavior (vacuum living room once a week, do dishes once a day) instead of letting the immediate feeling get you so you have to clean up right away.