Some days are better than others. Some days we find ourselves in a flow state for hours at a stretch getting incredible things done and other days we can't seem to get dressed without spilling our coffee, waking up the baby and stepping on the dog (who then barks and wakes up your spouse).
You have to learn and accept that we can't be over-achieving supermen (and women) every day. You do the best you can and keep your eye on the big picture. Learn from your mistakes and try not to repeat them. For instance, maybe it's better to leave that coffee cup in the kitchen instead of carrying it around with you while you get ready in the morning.
Sleep is such an important requirement for being productive I can't imagine you getting a net gain out of working late on a regular basis.
Your goal here shouldn't be to "cope with the guilt" but to not feel any guilt at all. If you did your best then you did your best, there is no one to gainsay you but yourself. Comparing yourself and your accomplishments against some unrealistic preconceived notion of who you should be and what you should be doing usually doesn't work out very well.
Set yourself some realistic goals and when you meet them acknowledge that you did very well, take pride in accomplishing these realistic levels of tasks.