I use Astrid, it doesn't sync with the calender, but it does sync with rememberthemilk.com, sends reminders, alarms, etc. It keeps closed tasks as long as you want, and is very easy to enter tasks either on the phone or via the web at rememberthemilk.com.
Oops, it can add the task to the calender, there is a checkbox in the task dates tab that allows you to add it to the calender.
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