First we have some information on these insects and how to control them at:  http://extension.colostate.edu/topic-areas/insects/carpet-beetles-5-549/

Carpet beetles (dermestid beetles) are extremely common insects in homes. Perhaps the most common ones found in Colorado homes and I would guess any home more than a few years old has a few at least.

They are scavengers, part of the clean-up crew in nature. Within homes mostlyeed on materials of animal  origin such as lint (skin flakes), hair, and dead insects. They may also feed on crumbs from certain kinds of foods.

Materials of animal origin do sometimes include things of value - wool-based clothing (or rugs), feathers, furs.  They do not feed on plant-based fibers, silk or synthetic fibers.  (The name "carpet beetles" is given to some species that fed on woolen carpets, when woolen carpets, animal based furniture (e.g., horsehair stuffing) and other dermestid susceptible materials were more common in homes - as were dermestid beetles.)

So to briefly try to answer some of the questions.  One, focus attention on the materials that are at risk - probably mostly woolen items.  Remove and isolate these, and treat them to kill any insects found in the items.  Controls are in the fact sheet but they include heating, shaking materials outside to kill the insects, perhaps deep freezing, and perhaps using paradichlorobenzene moth crystals.  After they are treated then store them in an insect-proof container to prevent reinfestation. 

Steam cleaning everything is probably not going to be very useful.  Target spots where they are likely to be breeding and vacuum those areas thoroughly.  Vacuuming cracks, corners where lint and pet hair tends to accumulate will be important.  Vacuuming or steam cleaning the middle area of a rug will be pointless. (Also empty out and perhaps vacuum the drawers where you observed the insects.)

Insecticides, if used, should be targeted to the cracks/crevices sites - and done after you have vacuumed well.

"Bug bomb" foggers are utterly worthless for control of this and most other insects that cause problems in homes.

You should be able to knock down the numbers with these steps and periodic vacuuming of sites where foods collect should keep their numbers low within the home.  And by periodically checking clothing storage areas for evidence of their activity - mostly by seeing newly discarded skins or larvae - you should be able to nip any new infestations before they cause damage.