gṛhasthasyāpy ṛtau gantuḥ
Sarveṣāṁ mad-upāsanam indicates that all followers of the varṇāśrama system must worship Lord Kṛṣṇa or risk falling down from their position. As stated in Śrīmad-Bhāgavatam (11.5.3), na bhajanty avajānanti sthānād bhraṣṭāḥ patanty adhaḥ: even though one may be advanced in the performance of Vedic rituals and customs, without worshiping the Supreme Lord one will certainly fall down.
Those in the householder āśrama are not authorized to enjoy life like pigs and dogs, freely exercising their sexual potency. A religious householder should approach his wife at the prescribed time and place and beget a saintly child for the pleasure of the Supreme Lord. Otherwise, it is specifically mentioned here that a householder must practice celibacy along with all of the other members of advanced human civilization. The word śaucam indicates cleanliness of mind and body, or else freedom from attachment and repulsion. One who faithfully worships God as the supreme controller experiences santoṣa, full satisfaction in whatever situation the Lord arranges. By seeing Lord Kṛṣṇa within everyone, one becomes bhūta-suhṛt, the well-wishing friend of all.