The curse of parenting is that when they're small you can't wait for them to grow up so you can get more time for you, and when they grow up you're nostalgic of their childhood when they were willing to spend more time with you.

So my advice is: find activities to do with them that you would both enjoy. Maybe going to parks, museums, have them help you on house chores... You only have a few years left under they get to middle school and start becoming more distant.