There are shuttles right at the airport, just outside of baggage pickup. No reservations necessary. Just walk up to the booth, pay for a seat, and they will tell you which line to wait in. Off the top of my head, shuttle cost is about $8/ person. I think there are a couple of different shuttle companies, but the price should be the same.
The shuttles are pretty efficient- I've used them lots of times. The downside is if you're the last one dropped off on the shuttle route, you have to stop at all the other hotels first.
There are also limosines available onsite at the airport; once again no reservations are necessary. With 3 of you riding, the cost for a limo may be just a little bit more than the cost for 3 to ride on a shuttle.