I have some friends with no pets and their houses always seem much cleaner. Two cats and a big dog make it hard for us to keep our house clean unless we spend hours every day - and that is NOT high on my list of priorities.
I don't know how much time I spend, but it isn't 2-3 hours a day, I can guarantee it. Maybe my tolerance is higher, but someone could drop by right now and it would be fine. My coffee table is cluttered, and the kitchen floor could stand to be mopped, but it's basically clean here.