Great discussion topic, and my kids are 9 and 5 also, BTW! (girls... love 'em!)
When I come home I continue to carry. Our routine here has us typically making and eating dinner on a normal school day when we all get home (close to the same time) If we end up doing something where I don't feel like having my pistol IWB, I'll often put it up quite high like on the top of my desk where they'd need a ladder to get it. This works because the desk is right in the family room, in clear view of the kitchen, etc etc. But that's just one option.
Often I'll put it in the safe which is also on the main floor of the house. I'll keep the dial spun so I can easily open the safe, but they don't know how to do that.
If I haven't put it in either of those places by the time they go to bed then it typically just gets placed on the ottoman right in front of the couch by late evening when the wife and I often find ourselves watching TV, kids in bed. In it's IWB holster.
When it's time for bed, I let the dog out and head to the safe. Put the carry gun in the safe, pull out the HD pistol and lock up the safe. Along with letting the dog in and locking the door up, the safe is the last thing I do before heading to bed. And it's the first thing I do in the morning... HD pistol back in the locked safe.
When I'm not home, there are no firearms accessible for anyone. When I'm home, there is always one accessible to me. When I'm in bed, there's one accessible to me and the rest are secured.
The most important thing IMO is a familiar routine. You develop a program that you are comfortable with and then you stick to it. My trips to the safe are as routine as brushing my teeth or heading out to the bus stop with the kids. This is an every-single-day occurrence and I don't deviate from it.