Michael David Spivak is a mathematician specializing in differential geometry, an expositor of mathematics, and the founder of Publish-or-Perish Press. He is the author of the five-volume Comprehensive Introduction to Differential Geometry. He received a Ph.D. from Princeton University under the supervision of John Milnor in 1964.
His book Calculus takes a very rigorous and theoretical approach to introductory calculus. It is used in calculus courses, particularly those with a pure mathematics emphasis, at many universities.
Spivak's book Calculus on Manifolds (often referred to as little Spivak) is also rather infamous as being one of the most difficult undergraduate mathematics textbooks.
No exercise but I got good conceptual understanding from the material. It must be read alongside some problem book on calculus for the concept to stick. Next stop can probably be his "Calculus" book which is a rigorous introduction to single variable calculus.
A must-read to have a your calculus concepts fortified. Merely a 121-page book, this tiny guide tells you, among many other concepts, about why Fundamental Theorem of Calculus is really fundamental, and not any 'hoopla'. Every calculus student must have this lightweight book.