Obtained information from Web page of Rome two Rio, with list of taxis for pier.
If you wish you can access the site and see your options
Tokyo Taxi
Websitetokyotaxi.co.jp
Phone+81 3-5758-3630
Tokyo MK Taxi
Websitetokyomk.com
Phone+81 3-5547-5551
Km Taxi
Websitekm-taxi.tokyo
Phone+81 3-5530-6001
Hinomaru
Websitehinomaru.tokyo
Phone+81 3-3814-1111