As I'm sure you realise now, entering into a 5 year agreement without a formal break clause in it was not the wisest decision! Far better to use 6 month or 12 month Assured Shortholds.
So long as the tenants do not breach any of the terms of the contract you cannot evict them, & I'm pretty sure Mamya is wrong to say you can go & live there with them. You have given them a tenancy of the whole property so - for the duration of the contract - you have forfeited your right to live there.
You have 3 options:
1. Put up with the situation unless they do breach the contract.
2. Negotiate with them - but from what you say it seems pretty unlikely you'll be successful unless (possibly) you're willing to give them a substantial pay-off.
3. Consult a solicitor, but beware the possibility of getting involved in legal work which will very likely be unsuccessful & which will probably be expensive.