Base don the fact that you've seen them each year for several years, I'm pretty sure there is either a nest in or on your house. Since carpenter ants can cause a lot of damage, it would be wise to attempt to do something before the situation gets worse. The first thing you should do is try to locate where the nest is. We have a great video in our Carpenter Ants in House article which highlights how you can find the nest.

Additionally, you should place out some Carpenter Ant Gel when they get active. Since most ants coming out of winter hibernation are seeking food, this gel will  be found quickly and should kill off some of the developing nests even though you won't know where they are located. This is one of the big advantages of the product and why it's both easy to use and effective.