I carry all the time in my home. I used to not do that and just left my handgun in my nightstand on the 3rd floor of my house. I had an experience where I was working late in my home office in the basement and some hooligans started ringing our doorbell at 1:00 in the morning. Now while the incident was minor, I realized that my gun, while just upstairs, might as well have been a mile away. Had the hooligans broke down the door i would have been "caught with my pants down" per say. Ever since then i always carry. When i don't feel like wearing jeans, i use a shoulder holster.
Also, I don't have any kids yet, but I plan on keeping my handgun on my person at all times instead of leaving it in a safe.