To be fair this was my first cruise so I cannot compare it to others.
The excursions all felt too expensive or too limiting so we planned our own days and events. We booked one excursion through the ship and it went well. If money is no object this is probably the way to go.
(In Kona either look to book an excursion or just stay on the boat until mid day. That is a tender port and the wait to get off the boat is far too long. If you have an excursion through the ship you get priority on the boats.)
Take the road to Hana
Tender port. Don't plan anything early unless it is through the ship. You won't be getting off the boat when you plan.
A helicopter is the best way to see this island and the company Island Helicopters was fantastic. They'll pick you up and get you back to the ship.
From what I saw only Island Helicopters and Blue Hawaii had actual facilities at the heliport.