There are enlarged grouping symbols available as \big, \Big, \bigg, and \Bigg. A following l or r indicates left or right (which helps allocate the proper surround spacing), and then follow it up with the grouping symbol itself.
Obviously the \displaystyle example [p(q(f(g(h(x)))))] in my MWE is to make an exaggerated point. I am not actually suggesting it for the case given (see answer SUPPLEMENT for alternative).
\documentclass{article}
\begin{document}
$f\bigl(g(x)\bigr)$
\[
p\Biggl(q\biggl(f\Bigl(g\bigl(h(x)\bigr)\Bigr)\biggr)\Biggr)
\]
\end{document}

In a comment, Gonzalo suggests using the mathtools package to declare delimiter pairs, which in his MWE, he calls \Comp. Then, using \Comp[<size>]{...} will place the specified size delimiters around the embraced quantity.
\documentclass{article}
\usepackage{mathtools}
\DeclarePairedDelimiter\Comp{(}{)}
\begin{document}
$f\Comp[\big]{g(x)}$
\[
p\Comp[\Bigg]{ q\Comp[\bigg]{ f\Comp[\Big]{g\Comp[\big]{h(x} } } }
\]
\end{document}
SUPPLEMENT:
If one truly needed a more finely graded scaling of adjacent delimiters, my scalerel package could be used in that regard. Here, I add 0.4pt height above and below each "unit" to govern the size of the next delimiter.
\documentclass{article}
\usepackage{scalerel,stackengine}
\stackMath
\ignoremathstyle
\newcommand\Comp[1]{\scaleleftright{(}{\addstackgap[.4pt]{#1}}{)}}
\begin{document}
$f\Comp{g(x)}$
\[
p\Comp{ q\Comp{ f\Comp{g\Comp{h(x)} } } }
\]
\end{document}

\delimitershortfallto be negative. – Symbol 1 Sep 12 '15 at 02:30