Just to confirm some of the earlier suggestions:
I would also put Storm King on the must see list, but I would plan on spending more than 2 hours there.
Saratoga Springs is a wonderful small town. Stop at the spa (State Park) and get a massage on your way north. The Saratoga Performing Arts Center (SPAC) is the summer home of the Philadelphia Orchestra and New York City Ballet. There are other performances there as well.
I would also take the time to stop someplace along Lake Champlain and take in the view.
Enjoy!