Kids only "feel your company" when you are involved with whatever they want to do. Personally I would suggest accepting that there is a certain amount of time that will be taken up that way, and budget for that in your schedule.

The best thing to do is find other activities that will involve your kid with minimal effort on your part. For instance is there a neighbor who your kid likes to play with? Other parents are usually happy to trade kids back and forth, which gives you half the time totally uninterrupted, and half the time with 2 kids who are entertaining each other with minimal supervision from you. (Better yet it gives them exercise, helps their social development, and doesn't cost you anything!)