Step back and look at the big picture. What do they need for the future? Do they need their mom to sit and read with them right now so that they can feel loved and secure and able to have that same love to share with their children in the future? Or are they already feeling that way, and right now need to help you do the dishes instead, so they can learn to think of others and to be giving and caring? Always think of what is best for your children in the long run. And remember to observe and know each individual child and their individual needs. And yes, sometimes they do need to learn to just sit and be quiet and not disturb you while you handle something important beside them.
This is an excerpt from this article about what to do when your kids annoy you.