The mean surface temperature on Earth and other planets with atmospheres is determined by the radiative balance between the non-reflected incoming solar radiation and the outgoing long-wave black-body radiation from the atmosphere. The surface temperature is higher than the black-body temperature due to the greenhouse warming. Balancing the ice-albedo cooling and the greenhouse warming gives rise to two stable climate states. A cold climate state with a completely ice-covered planet, called Snowball Earth, and a warm state similar to our present climate where greenhouse warming prevents the total glaciation. The warm state has dominated Earth in most of its geological history despite a 30% fainter young Sun. The warming could have been controlled by a greenhouse thermostat operating by the temperature control of the weathering process depleting CO2 from the atmosphere. This temperature control has permitted life to evolve as early as the end of the heavy bombardment 4 billion years ago.