Kusadasi is about twenty minutes away by car from Ephesus. We booked a private tour online through EphesusDeluxe or Ephesus Deluxe (www.ephesusdeluxe.com). It was a major disappointment. The tour was supposed to be 7 1/2 hours long and could be customized according to our needs. The tour guide assigned brought us back to the terminal in 6 hours. Throughout the tour, it was a rush everywhere we went, and he was on his cell phone frequently or talking to the driver. We did not go to St John's Basilica and we were at the old city of Ephesus and Terrace houses for just about two hours. After lunch, we had to sit through a sales pitch at a carpet company for close to an hour. What a scam?
We subsequently complained to the general manager of Ephesus Deluxe upon return home and received a 50% refund. It was not about the money because we thought we were dealing with a tour operator who would assign tour guides with proven track record of high quality customer service. This was certainly not the case.
The old fort at Bodrum was amazing. It is a very casual 20 minute walk from the dock. Alternatively, you can take a free shuttle ferry provided by the City. There is so much history and things to see in the fortress. Don't miss the museums of the shipwrecks. They are very educational. One can easily spend three hours there.