My kids were never allowed in the bathroom with me. They will be ok for 2 minutes while I pee.
Some weekends, they will stay with a sitter or with their father *gasp* while I go out with friends.
They have been told to play quietly in their room for a few minutes because mommy needs some quiet time to finish the last chapter of a book.
No, I will not cook their favorite meal every night; I will sometimes cook mine even though I know they don't like it.
I still keep my identity while being a stay at home mom. I see so many moms lose themselves and friends because everything they do is for their kids. That's fine if that's what you want to do but it's not for me.