About two years ago, I went with 4 other passengers from my ship (my husband is a WWII buff and went on the Normandy tour) to the villages of Honfleur, Deauville, and Treauville by taxi tour. The taxis were waiting in the port, and it was a WONDERFUL tour! It cost about $50 each U.S., and the taxi driver was with us all day (about 8 hours). We ate lunch outside in the harbor, so that was extra and we paid separately. I thouroughly enjoyed this option (we've been to Paris several times) and can't recommend it highly enough.
Hope you have a great time,