You should enjoy every single minute with your little girl, and not waste any of it thinking about the laundry, dishes, dust bunnies, etc. Read more books, draw pictures, write a story together, take another bubble bath, ask her what she wants to be when she grows up, where she would want to live, what kind of grandmother she wants you to be, what she wants to learn in school, what her favorite color is, what her favorite subject is. There are so many ways to enjoy girls pj day. Get a notebook, record the answers to any questions you ask her, or she ask you. My girls are 14 and 18 and I would give anything to return to 5. I don't know where the years in between went. I still can have pj day with the 14 year old, the 18 year old has moved out. Long story.
Don't feel guilty for today, enjoy it, all of it. We are all so busy we don't get enough.