I play silly little mental games with myself, all about maximizing time.
I hit the button on the electric kettle to heat water for tea and I try to get the dishwasher unloaded and the dishes away in the ~ 3 minutes until the water boils.
I try to squeeze in loading and starting the laundry before anything else in the morning (so that I have a chance in hell of the 10 minutes needed to toss items into the dryer or onto the drying rack so that they will be dry and ready to fold and put away after all the morning activities?).
I guess I sort of sort chores into time units and figure out how many I can squeeze into the time units of different activities? Does that make sense?
Also, I read some random comment on a thread like this on a different site that was cheesy, but actually really resonated with me. It was, "What would the Tomorrow Me really really be grateful for the Today Me getting done?"
For me, that means that getting lunches packed/coffee maker prepped for the morning/clothes laid out the night before are now the KEY thing to having a relaxed and enjoyable day.