Yes. When creating or editing, the task, do the following:

• Set a due date for the task.
  
• Tap on the “advanced” button next to the due date, and choose the option to mark the task as optional.
• Set the task to repeat daily from completion date.
• Set a reminder that falls on the due date, at any time you like.

Repeating tasks that are marked as optional will automatically move to to the next date based on the repeating pattern – even if they are not marked as complete.