People with Velcro dogs: do you ever feel like you're failing them?

Obviously a shepsky is a high energy dog. And he's a rescue. But sometimes I just feel like I'm not doing enough for him. I almost feel guilty for doing chores and taking my attention from him.

He lives a pretty balanced life. When I'm at work he goes to my parent's to terrorize their dogs and run in their backyard then comes home on stays on the couch with me.

Sometimes I feel like my presence is enough to keep him happy. But I don't know.. I just feel guilty because his entire day is spent watching me when I'm not playing with him.