We have sailed out of port canaveral 4 times now and have used Tropicana Transportation the last 2 times. They were professional, on time, clean vehicle and among the lowest price. Certainly will use them again if we cruise out of port canaveral in the future. First cruise, we tried Travelynx and was not impressed. Second time we tried CBS ( I think it stands for Cocoa Beach Shuttle ) and was very disappointed with them. Glad we came across Tropicana the third time and also used them our last cruise. There was another company that was slightly cheaper but we didn't want to take the risk and we were relieved that we didn't because we saw that company at the port when we were being picked up and the vehicle was on the verge of ridiculous with a driver that looked hung-over.
The best advice we can give is Tropicana Transportation.
Hope this helps and happy cruising!