Your children throw their towel on the floor after one use, while you think they could use it a little more often. Do your children have a point?
Personal preference
How often you wash towels is entirely up to your own preference. You can put a towel in the wash after using it once, but there is nothing wrong with using a towel for longer.
You prefer to put these things in the wash more often You could probably wash the small towel hanging by the toilet and the towel in the kitchen more often than you do now. After all, these towels are used more often. Just like your tea towel and dishcloth.
