Personally, I don't usually feel good at the end of a day where I do "nothing". There has to be some semblance of productive activity for me to feel happy and satisfied. For me, that can be as simple as washing the car or cutting the grass, but honestly the most satisfying days are ones where I accomplish (or at least make progress on) something meaningful to me that isn't just a routine chore. I think it's human nature to be fulfilled by doing productive work, and it's very much up to each individual to define what that entails.
To the OP's question about feeling guilty about not getting things done on a set time table, I guess I would say that it's not about feeling guilty. It's about feeling unsatisfied and unhappy over the long run if you're procrastinating so much that you're never really achieving anything meaningful (i.e., meaningful to you).