Currently I have achieved this with my keychain settings and some wifi network settings in Mavericks. However, I like to have an admin account and run as a plain user for daily use. I do this for security reasons. Note: I have only tested this running as a user not an admin.
Uncheck "Ask to join new networks".
Uncheck "Remember networks this computer has joined".
The order of preferred networks does not matter due to keychain settings.
Keychain (Repeat steps for every airport wifi password):
Open keychain access -> system -> Select each airport wifi password ->
Right Click -> Get Info -> Access Control -> enter admin username and password
Remove everything from "always allow access by these applications" and
ensure only "confirm before allow access" is selected.
Hope this helps.