There were other censuses before 1841, but they only show the numbers of males and females per dwelling - therefore of little us to us family historians!
The 1841 census was the first to be useful.
But, as I said, ages were rounded down to a multiple of 5 years (so John's age was between 55 and 59!) and there is no relationship to the Head of household.
Before 1837, when Civil Registration started (Birth, Marriage and Death certificates) you are going to have to rely on Parish Registers, and other local documents!
That's the fun of Family History! Digging around yourself and finding answers!

Good hunting!

Try FamilySearch, or a visit to Kendal Record Office?