We stayed at Commodore on the Beach and took their shuttle both to and from the ship. This is a older hotel, but very nice-remodeled. It is right next to the beach with all rooms facing the beach. The people who run it are vey nice and you get a continenal breakfast in the morning and cookies and milk in the evening. It has "access" (meaning a traffic light) to the beach. We were very happy with our stay both before and after our cruise. I would highly recommend this hotel! Their cruise parking is not "secure", but is monitored by a camera in the main office.
We have stayed at the Best Western on the beach twice before cruises and had free parking during both cruises. Riding a taxi to and from the dock is an easy short ride and costs about $10 with tip for the cab (not each person) each way.