I love my 2 Nest thermostats. Some people I work with also use Ecobee thermostats but I have no experience with them.
With the Nests I can do exactly what you want to do. I have them on a schedule but if I'm coming home early I can turn the heat up from my phone so it's warm when I get there. Nests also have a learning mode where it figures out your patterns and automatically adjusts for them. I had no luck with that and shut off the learning feature. I would walk into a room and find the heat on just because I may have been in that room at that time in the past. I shut off learning and just use it on a schedule or with my phone.
The Nest costs about $200 but I found them for about $180 on eBay. Then I got a $100 rebate meaning each Nest cost me $80.
http://www.nhsaves.com/wp-content/up...and-Unitil.pdf
I also got a Nest Protect smoke/CO detector. It also connects to wifi and your phone and gives you alerts on your phone if it detects a problem. It also can be set to shut off your heat through the Nest thermostats if CO is detected.