That is the most direct way, but I would expect traffic as that's about the time rush hour starts. Cross your fingers that you're leaving the airport closer to 3 as leaving closer to 4 could easily add an extra hour (or more) to the travel time. The most common delay points will be on 19th Ave, approaching the bridge, 101 through Corte Madera, then 101 farther north between Novato and Petaluma.

(BTW... It's 19th Avenue you'll be using, not street. SF has both, but 19th Ave is a main road through the city while 19th St is just a small street).