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I wouldn't mention that they left early.

I would have a list of everything you want done (in priority) and ask them if they can make sure everything is done on the list in the 3 hour time allotted. Say that the items are listed according to priority so if 1-2 things can't be done, then that's fine. I wouldn't say "if you have time".

I've had really annoying experiences with cleaning teams and I found that a list eliminates any confusion on expectations.

I wouldn't mention they left early. Next time they come I would try to schedule to be there again and write the check accordingly to the time they spent. Or leave a note of the additional items you want completed that they don't normally do. Wether or not they finish early again at least you know your dollar went further on a cleaner house.

Do they come at a set time? What about writing a note with the extra items that says, "If you finish with all the usual tasks before 2pm, please work on the following filler items..."?

@Freckles: I like this idea. I tell my cleaning lady that she can leave once she has finished, even if she is finished early and so far I haven't had any problems.

In your situation I would email a list of tasks, say that you expect that every task is completed and if they are ALL done, you don't mind if they leave early. And conversely, if they don't have enough time to complete the list, they can make those items a priority the next time they come.