Scorpions or Wasps

I know this may sound crazy, but I am beginning to wonder if I would rather live with the scorpions than deal with the wasps.  I knew how to keep the scorpions at bay by keeping the bugs in our yard to a minimum and the scorpions didn't bother us, too much ;).  Here, however, the wasps just seem to penetrate our living space--they even built a nest inside the girls little play structure and I knocked down 6 nests from the eaves of our house.  Seriously, how do we get them to go away.  I guess I should just be grateful we haven't had a stinging incident.