Self-exciting point processes (SEPPs), or Hawkes processes, have found applications in a wide range of fields, such as epidemiology, seismology, neuroscience, engineering, and more recently financial econometrics and social interactions. In the traditional SEPP models, the baseline intensity is assumed to be a constant. This has restricted the application of SEPPs to situations where there is clearly a self-exciting phenomenon, but a constant baseline intensity is inappropriate. In this paper, to model point processes with varying baseline intensity, we introduce SEPP models with time-varying background intensities (SEPPVB, for short). We show that SEPPVB models are competitive with autoregressive conditional SEPP models (Engle and Russell 1998) for modeling ultrahigh frequency data. We also develop asymptotic theory for maximum likelihood estimation based inference of parametric SEPP models, including SEPPVB. We illustrate applications to ultra-high frequency financial data analysis, and we compare performance with the autoregressive conditional duration models.