Imagine that you are a source of light to everyone around you. But to shine brightly, you yourself need to be filled with energy. Taking time for yourself is not selfishness, it's a necessity. It's a time to reboot so that you can inspire and support others with renewed vigor.
Try making small “stops” throughout the day. For example, enjoy a cup of coffee in the morning without rushing or do a short meditation before bed. You deserve to pay attention to your desires and interests.
If guilt still bothers you, consider this: when you're happy and energized, your loved ones feel it too. Taking care of yourself makes you better for them, too.