Doctors Cave Beach - Falmouth taxi

A couple of years ago we went to Doctors Cave Beach from Falmouth, but I'm not sure we did the right thing for transportation. As we left the terminal, there were some vehicles that had prices for trips to different places. We climbed into a small van - maybe 10 passengers - and had to wait for the van to fill up before we left. Then we all had to decide on a time to be picked back up. If I recall correctly, it was about $20 roundtrip. A young Jamaican woman got in the van and gave us a talk about Jamaica on our way there and back. Is the best way to get there? Did we miss the taxis somewhere along the way? Thanks.