"Relaxing" with Kids

Those two words can not be used together in the same sentence. Or maybe they can but that sentence would be something along the lines of "This is NOT relaxing with kids" or "how can this be even the least bit relaxing with kids".
Now don't get me wrong, I love to do things with my kids. But I must accept prior to any outing the fact that it will NOT be even remotely relaxing. Even if we are confined to a small space and their is no chance that they could be in harm's way, I can guarantee that they will have about a dozen requests (more like demands) in a one hour time span.  Someone is always thirsty or hungry, someone is always crying or whining, or one is always arguing with the other.
Some of the things that would normally be leisurely activities quickly turn into chaotic situations. Would you like some examples?
Here you go.
1.  Reading- The other day I was reading outside while my children played. The book was put down for, at most, 5 minutes. I picked it up to discover that one whole side was soaked with strawberry milk. NOT relaxing.
2.  Gardening- When trying to water my flowers, my oldest daughter got the hose and squirted her sister in the face. Cue the crying and screaming. NOT relaxing.
3.  Listening to music- Lately, whenever I happen to put MY choice of music on, my daughter promptly removes my CD and puts on Kidz Bop. Annoying and NOT relaxing.  
4.  Shopping- I won't even go there...it just doesn't happen anymore unless I am alone because when I take any if the kids it quickly turns into a nightmare and is, you guessed it, NOT relaxing.
The list could go on and on.

So, since there is not much to do that is "relaxing", I regularly torture myself by choosing to do things with them that I know will not be relaxing.  Today, we went swimming with 2 of my friends and their children. Let's just say that 2 of us left almost in tears and it was not any of the kids. 
I bet if you asked the kids, they would definitely say that they had fun. Wouldn't you if people waited on you hand and foot, providing you with a constant stream of snacks, letting you eat wherever and leave a trail of food in your wake? Then those people dressed you in your bathing suit, applied your sunscreen, and swam with you on their back through the deep end while almost drowning just to keep your head out of the water so you could fetch the specific pool toy you wanted (apparently one of the 10 in the shallow end would not cut it).  At the end of the day, the same people cleaned up your entire mess, dressed you in dry clothes and placed you in the car.  After that, they drove you home and gingerly carried you to your bed for an afternoon nap. Now, THAT is relaxing!