I've used Princess hotels on 2 cruises and have 2 more cruises booked with Princess hotel stays. Transfers to the pier have always been included. And if you are doing a post-cruise stay the trnsfers are also included.
2004 Coral Princess - Panama Canal
2005 Sun Princess - Eastern Caribbean
1/06 Island Princess - Hawaii
2/07 Sea Princess - Southern Caribbean
11/07 Golden Princess - Mexican Riviera
3/08 Diamond Princess - Hawaii
11/9/08 Tahitan Princess - Tahiti & French Polynesia
9/13/09 Star Princess - Alaska
3/14/10 Golden Princess - Hawaii
The pier transfers are often included when you book a pre cruise hotel through Princess but I would double check with Princess before your cruise to avoid any possible mis-understanding about transfers.
With integrity nothing else matters; without it nothing else matters.