Problems seem to start after the first couple of years, I guess they get comfortable with us there.
Life and schedules have a habit of changing as time goes by, maybe you could try to change their days and see if that would make a difference?
Unlike most, I personally never have had a problem with clients being home during any of our cleanings. Not to bust your Chops JP, but a lot of the people that I hear complaining about the clients being home do so because they feel that they "have to slow their work down" so that the customer feels that they are not being over charged.
I say that if a customer feels over charged and is counting the minutes that you spend cleaning and comparing them to the amount that you charge then you have much larger problems and it is called - "Your Value factor".
(ie- you have exceeded yours, if you get my drift)
If the complaint about customers being home is based on the customer who tend to be constantly in your way while cleaning, then I say stand your ground, be professional and explain that you need to work freely of distractions in order to provide quality results.
Here is a clause from my service agreement. I am not afraid to re-address this clause with my clients as deemed necessary, nor should you be.
We need to be able to work freely and without distractions. Every effort is made to work safely and cautiously, but we cannot assume liability for the safety of others. This includes children and pets. Be advised that if we are subject to distractions that affect our ability to work we reserve the right to charge for our extra time spent in the home.