How it worked when I served on tugs in the Navy in the SF bay area. This may or may not apply in PC.
A certified local "captain" called a pilot familiar with the bay and its navigation channels would meet the ship on a pilot boat outside the actual bay area. From that point until the ship (or submarine) docked or moored, he was in charge of the ships movements while it was in motion. He determined - based on a lot of factors like ship size, capabilities, where it was moving to and where it was docking, weather, etc - if, how many and often which available local tugs would be used to bring the ship in. He also directed the movements of the tugs, including where they would tie to the ship. He would tell them what angles they should push or pull the ship at, and how much thrust to apply. The tugs basically become portable engines and thrusters right where the pilot needs them. This is how they could turn ships around in their own length or make them move sideways or even at weird angles that the ship could never manage on its own.
The same was true for ships leaving port - the pilot would board the ship at dock, then leave it by pilot boat once they were out of port waters.
You might be saying "that's for Navy ships, this is a cruise ship." However, the pilots were always experienced local civilians, even for Navy vessels. While we often worked with the same handful of pilots, those same pilots and their peers were responsible for bringing in every ship into and out of the bay, whether it was a Navy sub or aircraft carrier, an oil tanker or a cruise ship.
I imagine that Port Canaveral has similar policies and procedures, though they may not be exact