What Reef said but to add, Aldora picks up at Villa Aldora (North of town), at Aldora dock in town and most (all?) hotels South of town. We stay close enough to the Villa to walk to in the AM to be picked up there. You must let them know in advance if you are being picked up at the Villa.Aldora Villas is nice and convenient. There's a decent shore dive there, too. Aldora picks up at a pier in town so more economical accomodations would be Casa Mexicana.
If not staying at Villa Aldora and it it too rough to dock there on your way back (rare), you are responsible to pay for cab from town to you hotel. If there is room you can ride down to town from Villa on those rough days they cannot dock at the Villa. It otherwise runs $5 for a Taxi.