We recently stayed at the YVE right across from Bayside Marketplace and the port is a 5 minute ride. They do offer shuttle services for a small cost. Perfect location.
Our hotel had a shuttle service but we opted to book with Cocoa Beach Shuttle to get to the port. They have your reservation and the number in your group, so you have a seat, and they were actually cheaper than if I booked though the hotel we were staying at.
Cruise Control Transportation, they picked us up at a Universal hotel and brought us to a hotel in cocoa beach.. great service and great communication. We did book a private shuttle.