Samana is a small town with not much to offer, don't bother with excursions from the ship go with Terry's tours (if younger) you will have fun and get more for your money. (if you don't take excursions here you will be bored)
First time in Bonaire, great little town with a friendly Dutch flair, went on a sailing and snorkeling excursion with Compass Sailing, Wim and Lisette are a treat, you can book this in the booths to the left off the pier.
Curacao is another Dutch Island with a lot to offer, it is the industrial neighbor to Aruba but once you leave the oil refinery behind it is a nice island. We did the Irie bus tours, very nice as always, this is the rustic experience on an old school bus with the windows out (free beer) If you are younger (under 70) you will enjoy this trip
You will notice a theme we don't take the excursions off the cruise ship, preferring to do our own thing. In Aruba (been here a few times) we rent a 4X4 jeep and drive the beach on the east side, this is not difficult and offers great views and interesting stops, note you can go on the 4X4 tours but they don't stop along the way and quickly done, you can then drive to the west end where the swimming beaches are, we went to Baby Beach so named as it is protected and shallow, then stopped and ate some local cuisine ( real local food ) prior to returning to the ship.