Check out www.floridalimo.com
You can get a towncar to take you to the port or your hotel for $55 for up to 5 people. They also have a ride share program where you can wait up to 30 minutes to see if anyone else wants to go to the same place for $15/pp.
We took the cruise transport/buses back to the airport because the pier is a mad house on embarkation/debarkation day. Finding a cab or any other non prearranged transportation wouldn't be a nice way to end your vacation at all.