Yes, and the easiest way to do it is to get a Freeview HD Recorder or Freeview Play Recorder. You buy the box, plug it in and then you get to choose when you want to watch your favourite TV.
With a Freeview HD Recorder you record a show by clicking on the TV Guide, highlighting and then selecting the show you want to record. Choose to record a single programme, or a whole series. You can also pause and rewind live TV, meaning you never need miss a moment.
All of this is at no monthly cost after a one-off payment of as little as £100 for the box.