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Saw this thread and just had to give some props to Mr Sanchos.
We were there in February.  I really had no idea what to expect and went there basically based solely on reviews from this site.
Well, have to say it was probably the best time I've had any any ship excursion to date.  I just thought the whole setup was just fantastic.  
First off, it was super easy to get taxi service from the port and back to the port when we were ready to return.  We were worried about it but I never felt unsafe for even a second.  
Once we arrived at Sanchos, they checked us in and assigned us a server for the day (Sauri was his name).  And let me say, Sauri worked his tail off all day to take care of us.  He was super nice, and hustled.  Really though, I noticed all the wait staff really working hard to take care of everybody.
There were plenty of places to sit....Either by the ocean under palapas or in other areas.  
And the food was just excellent.  Loved how they had buffets set up but also personal service if you wanted it off the menu.  I highly recommend the coconut shrimp ?
Drinks were also great.
Really was exactly what we were looking for from an all inclusive beach excursion and the price is probably the best I've seen for such an excursion.
If I'm ever back at Cozumel on another cruise, I know exactly where I'm heading.

We were in Costa Maya a few weeks ago.  The port area there is really nice....Pools, restaurants, shops....Really can easily kill the day just hanging there.
However, we took a taxi into town and went to the Krazy Lobster.  Had a nice table on the beach and got service all day.  Probably spent $50-$60 total....Good day.  And the beach there was nice.
We had debated Maya Chan but didn't do that as we had seen some questionable reviews on the beach itself.  If I'm doing a beach day somewhere I want a nice, clear, clear, blue beach.

I think being on a first cruise there is a lot of security that comes from booking through the ship.
I know our first cruise we wouldn't consider doing anything unless it was through the ship because we had no idea what we were doing.  And I'm glad we did as the ports were just hectic.
After having been through multiple cruises now though, I feel much better about using taxi's or third party transportation.  I just think you need to trust your instincts and leave yourself plenty of time.  And honestly we still haven't headed all that far away from the pier.  I think we've only went around 20-25 minutes max away from the port.  Not sure I'd be wanting to go on some 8 hour excursion through Mexico or something lol.
As for Costa Maya...Keep in mind the port there is very, very nice.  It's crowded too but plenty of shops and restaurants there.  And also pools that are open for people to use.  We took a tax into town for a few hours and went to a place called Krazy Lobster which was great if you want a beach/drink type day.  But next time I'd probably be perfectly happy just hanging out at the port and having a few drinks with my feet in the pool ?

I agree with this.
Just visited Nassau for the first time a few weeks ago.  I honestly wasn't very impressed with the port area....Didn't seem to be much there.
We did Atlantis.  I had serious reservations about doing it and should've trusted my instincts and what others here had said as it was a waste of money and time.  It's just way too crowded and way too expensive.  We went there for the day and were able to do a few waterslides before things got too crowded.  But then we spent a couple hours trying to get tubes for the lazy river type things and we never able to get them.  Their system there is just terrible and you basically have to win the tube lottery to get one.  It was a fantastic place and would probably be a fine place to stay if you could visit it later at night when cruises leave the dock.....But no way I'll head to Atlantis again. 
And frankly, I'll probably try to avoid Nassau again as it just didn't feel like a very interesting port.  If I did go there, I'd probably just walk around and maybe head to the free Junkaroo beach. 

I think being on a first cruise there is a lot of security that comes from booking through the ship.
I know our first cruise we wouldn't consider doing anything unless it was through the ship because we had no idea what we were doing.  And I'm glad we did as the ports were just hectic.
After having been through multiple cruises now though, I feel much better about using taxi's or third party transportation.  I just think you need to trust your instincts and leave yourself plenty of time.  And honestly we still haven't headed all that far away from the pier.  I think we've only went around 20-25 minutes max away from the port.  Not sure I'd be wanting to go on some 8 hour excursion through Mexico or something lol.
As for Costa Maya...Keep in mind the port there is very, very nice.  It's crowded too but plenty of shops and restaurants there.  And also pools that are open for people to use.  We took a tax into town for a few hours and went to a place called Krazy Lobster which was great if you want a beach/drink type day.  But next time I'd probably be perfectly happy just hanging out at the port and having a few drinks with my feet in the pool ?

I'll chime in as I was just in Cozumel and just did Mr Sanchos.....
STAY with Mr Sanchos....It's fantastic!
We had reservations about doing an excursion not through the ship.  We were worried about taxi service and such.  Well, taxis in Cozumel were super easy to get....They line up right outside the port.  And they're lined up right outside Mr Sanchos when you're ready to return.  And they're obviously all one company or controlled somehow....Really no concerns.  I think the cost was $18 each way plus tip.
As for Mr Sanchos, it was the best beach day I've ever had.  We got there at 9:00 AM and were assigned a server for the day as soon as we walked in who led us to a palapa area by the ocean....Our server was Sauri.  He handed us a menu and said he'd get us whatever we needed all day and he was true to his word.  We probably had 20 various frozen drinks, all kinds of nachos, tacos, shrimp (the coconut shrimp is to die for!) and a few other things.  Plus there are buffets you can walk up to and get food whenever you want.  There's pools, a great ocean, many activities....Really a perfect beach day IMO.  And all that for $50 a person.....Couldn't beat it.
So I'd suggest keeping that reservation.  There were a lot of people there but it spreads out pretty well and I never felt too crowded.  And I think they might limit people to around 450 but don't quote me on that.
Just a fun day and if I'm ever back to Cozumel, that's where I'm heading.
 

Just visited there  a couple weeks ago myself on a cruise....We did Private Island Maya Key.  That was a nice, relaxing day away from crowds.  And personally I enjoyed the animal preserve on the island with monkeys, sloths, etc.  We walked around and felt like we were all by ourselves....And felt completely safe there.
I also enjoyed the Roatan port.  I liked how close it was from the ship and quite a few little shops and things.
We didn't venture to the rest of the island.  We considered doing a Victor Bodden tour but didn't end up doing it.  It did appear to be a pretty poor country with a lot of hills, dirt roads, etc.  But it was tough to really tell much from the Port.

We spent a week there last year....absolutely fabulous place.  It's amazing though how one side of the island is full of condos, hotels and beautiful beaches and the other side of the island looks like Mars or something lol.
We stayed at a Marriot on Palm Beach.....Fantastic beach with many restaurants and a lot of activities going on.
Eagle Beach is also really nice.
My favorite was probably Baby Beach though.  It's in a less populated area and didn't seem to be nearly as full of tourists when we were there.  The water there was calmer, clear, great for snorkling.  Not much in the way of restaurants or other activities though.  This is where I'd head if I wanted to just have a more relaxing type beach day.  
It seems like all the beaches are within about 20 minutes of the port depending on traffic.
As far as other things to do, we really enjoyed using a company called ABC Tours.  They run some Jeep tours to see some stuff on the other side of the island that is much more untouched.  There's natural bridges and some other historical type stuff.
I'm heading back to Aruba in December myself on a cruise so will probably be watching this thread myself for ideas.  The beaches are so nice that I'm not sure I'll want to do much besides just heading to a beach though ?