Google Tasks on iOS

There is no such option currently.

I plan to add some "aging" of the default screen - if you open the app within an hour of the previous time you get the same view as last time, if you open the app next day it will kick you back to the home ("list of lists") screen, unless you only have one list in which case that list gets open. Something like that.

This isn't going to happen soon, but I am serious about optimizing the workflow to reduce the number of taps you have to make. Thanks for voicing your concerns.