Not necesarily, actually.
It depends on just how much you wanna spend on having this option! Find a high-end car audio/alarm shop in your area and see if they have a defrost addon kit they can build into your stock alarm system.
I have an idea on how you could do it without a kit, but it would be a TON of wiring and relays and a timer. Having to tie into the stock wiring system would be the hardest part, as you would need to have a manual switch in the vehicle to validate the rear defrost, then take a couple of relays and diodes to tie into the stock alarm's output trigger (a remote start light in the dash would work too), and either a tach or ignition sense trigger to complete the "smart" circuit.
All of the inputs would then allow the trigger to a relay that operates the defrost circuit in the vehicle.
During cold months, you'd leave the switch on and whenever you remote start the vehicle, it would activate the defrost circuit once the vehicle starts. You'd turn the switch off in warmer months and leave it off until the next fall/winter season.
If you wanted to get really fancy, you could even tie into the system a thermistor and remove the manual switch completely, this way the thermistor would sense the temp (you'd have to add on a thermal adjusting trigger system, pretty easy to do and some are available already built and ready to install in a 12VDC application) inside or outside the vehicle, depending on where you mount the thermistor, and trigger the circuit depending on what temp you have it set at.
Honestly though, it would probably be cheaper and possibly easier to just disable the stock starter system and install a full aftermarket remote start alarm system like SimonSay's system above.