I love watching Marie Kondo on Netflix, it really helps! I would maybe add an extra shelf on the bottom and as for all the small things, I recommend putting them in individual boxes that can be stacked and easily accessed and label them! (photo boxes work too sometimes)

A rack or racks on the back of the door for little items will help tremendously. I can't see how much clearance you have from shelf front to door surface so that may limit your exact placement. A canned goods rack is probably 4 inches deep and will hold all sorts of small items leaving the shelves for larger items. A caddy with pockets, like those sold for shoes, would work as well.

Roll towels and washcloths...easier to access and looks neater.

A clear plastic shoe organizer over the bathroom door can hold small items you want to see at a glance. Especially helpful for stuff you use all the time and don't want to open the closet to find.

ZB Brand Over the Door Shoe Organizer - 24 Breatha · More Info

You seem to need a few more shelves and something to use as "drawers" -- sturdy plastic baskets and or bins. Measure the width/depth and what boxes and baskets you can find to fit the width and depth before rearranging the shelf height/spacing.

You might invest in a square laundry basket for the floor/bottom "drawer" if you can find one to fit to use as a toy box.

If you're going to put your larger bath towels on a shelf, then, after you fold your towels once in half lengthways -- long side to touch long side -- try rolling your towels instead of folding them further.

IF there is room between the door and the shelves, add something usable as "spice" bins to the door to use them for the medicines.

http://robbygurlscreations.blogspot.com/2012/01/diy-pantry-door-spice-racks.html

If you're wanting serious change, consider replacing fixed shelves with a rolling shelving unit that you can move in and out of the closet and easily get to items on the back -- think vertical kitchen drawer.

Something that fits your space similar to this ...

https://www.amazon.com/AmazonBasics-5-Shelf-Shelving-Casters-Black/dp/B071DZHLXH

but you could put the shelves on upside down so you'd have an edge items decreasing the likelihood items would fall off the shelves -- and you could still uses boxes and bins on the shelves.

Congrats on joining the sorority of motherhood! It’s hard to believe how much “stuff” the tiny new person needs! Your closet has a lot of empty space and you can add more shelves and inexpensive plastic boxes, like the shoe boxes suggested above. Don’t let anyone discourage you and donbe too hard on yourself if you take sooooo much time getting things done. You’re on baby time now.

Tatts, that was not helpful. And, notice that the OP did post her question to Organizing a Home. (Houzz likes to suggest unnecessary cross-posting).

Original Poster, I picked up a few of these small drawer stacks. Each drawer is sized to hold a ream of paper, and they are the perfect size for all those fribbly little bathroom things.

Here’s a different one, sized more like small shoeboxes.

The drawers in frames let me use the top as an extra shelf, usually just right for qtips and toothpaste. and there is room next to the units on the shelf for taller items or towel stacks.

Can the items on the floor move to the bottom shelf? Then you could put a plastic drawer cart (Iris makes several sizes) on the floor, and that might be a good place for towels (fold them the Konmari way), maybe for the paper towels. The drawers in those larger units come in different sizes, find what works for you.

I don’t lead a Pinterest-worthy life, but I can find the bandaids!

For your cleaning supplies, I might suggest a basket rack on the door for the chemicals up high, with a holder for the broom and dustpan (hook, spring clip, or roller clip). If this is all the space you have for supplies, you may not be able to stock up, which will drive you crazy, but not as crazy as having 6 bottles of bowl cleaner and no place to keep them.

I wonder if you would find it useful to mount a paper towel holder, horizontal or vertical, in the closet, or somewhere in the bathroom, for quick clean-ups?

It looks like you have a lot of dead vertical space that can be captured. The clear drawers that bpath O Sophie suggests come in different sizes that can be stacked and labeling them is a game changer for finding things fast and staying organized. I find them more convenient than boxes that have to be unstacked, lids opened, etc. and since they're modular, you can swap out as your storage needs change.

http://www.sterilite.com/ProductCategory.html?ProductCategory=19 is one brand.

If you go that route, measure and take into account the door casing to make sure drawers can be opened all the way. and look at different configurations. The space left over on the right side can be used as a place to stack toilet paper, rolled towels, nesting the buckets, etc.

Use the best location(s) for what you use the most. Place infrequently used items on the shelves hardest to reach. Of course, with little ones, the meds & cleaning products need to be stored out of reach.

I also agree with suggestions for hanging a rack on the door, it's surprising how much can be stored there.

The Container Store has great products and organization ideas for inspiration. Sometimes I splurge on them or look for similar products at discount stores, keeping in mind that square or rectangular maximize storage more than rounded containers.

Post pics when you're finished - you may help us out with a thing or two!

This is all really great. Thank you so much!