With my first I also pee'd holding him, always.
#2 taught me otherwise since he cried constantly his first 2 months and eventually he had to be put down.
Nate doesn't cry much, but I pretty much leap right up if he does, but just fussing a little I let go if I'm busy.
I absolutely can't use any front carrier and do lots of chores--it totally breaks my back. The few times I went to a chiropractor they said I should avoid it. I try to rake leaves or shovel snow using a backpack, but it still bothers me.
I use a swing in the living room to fold laundry.
An exersaucer in the kitchen for cooking and unloading dishes.
He still falls over sometimes sitting, so I put a pillow behind him when I'm changing laundry. Once he's sitting reliably (he falls when he tries to reach too far for a toy) things get sooooo much easier IMO. And once they crawl and walk it's crazy as far as babyproofing is concerned, but otherwise I find their whole demeanor changes once they can get where they want to go on their own.
Okay, I kinda went on a tangent there. I guess my answer is I pretty much always pick up immediately if possible, but will let it go a minute or two if I have to (ie. when I'm changing AJ's diaper, finishing food prep that would get ruined if left for a moment, near the end of Ryan and AJ's bedtime routine).