Right on the cruise terminal in Rotterdam you will find Hotel New York. It was once the headoffice of Holland America.
On the opposite side of the river you will find the simple but good hotel Maritime. More or less its neighbour is the Tulip Inn. Next to the Erasmusbridge - also on the other side of the river is the Golden Tulip Hotel.
Those hotels are more or less walking distance from the terminal.
In town you will find a.,o. Hilton, Westin and plenty of other hotels.
As far as I know no hotel has a shuttle.
Check this website of the tourist board for more details:
Welcome to Rotterdam | Rotterdam Tourism & Convention Board