Hey, Richard!
Disney Cruise Line (DCL) offers motorcoach transportation to/from Orlando International Airport, Port Canaveral and the Walt Disney World (WDW) Resort for about $69 per person round trip. For you and your family, this is the most cost efficient way to travel to/from the port. (Of course, you can purchase a one-way trip as well for about half that.) With the luggage service provided, you can breeze through the airport and board your bus to the port when you arrive and leave for WDW as soon as you've disembarked and made your way through US Customs.
For me and my family of six, it makes more sense for us to hire a car service since the price for the DCL transfer exceeds the cost of a car service round trip. Although we have to claim our luggage, we have an extra pair of hands to help us load the luggage, and the car is parked conveniently just outside the door. We don't have to wait on others to board the bus nor do we have to make multiple stops when we return to WDW.
If you are of the first to leave the ship (around 7:30 a.m.), you can have a car waiting on you, and you can be at WDW around 8:30 a.m. Otherwise, you're going to wait a little while to claim luggage and get through US Customs with the crowd. Thus leaving around 8:30-9 a.m., you may not save that much time hiring a car to WDW rather than taking DCL transportation. I hope that helps give you an idea of scenarios.
Have a wonderful day and a magical vacation. Bon voyage!
Andi