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Two hotels are quite close to the harbour: Comfort Hotel Esplanaden and Comfort Hotel Oesterport.
It would appear that you are going as a Cruise Only passenger and that no hotel is being arranged by Princess. One of the best ways to find a good hotel is to make a note of the ones that you prefer from web site searches and then check out how past customers rate them on tripadvisor or "the other site" recommendations.... Neil.
Yes, I have been doing so, but I amn't sure what is the best location from which to access the ship on embarkation day.