Hilton Copa isn't the Cavalieri, but Rio isn't Rome. Know that going in. Rio is hot, crowded, gritty, has crime, but it's a blast. You're right, Hilton Copa's in Leme, which runs into Copacabana which runs into Arpoador which runs into Ipanema. Anybody doing cursory hotel research knows Rio has a meh selection of hotels. But, come on, Hilton Copa is more than fine. It's clean, it's in a good location - no matter where you are, you're gonna be close to some things and further from others - this goes for NYC/Paris/anywhere. I stand by my comments.
One more thing, you don't have to hire a guide. We used Uber to get to Christ the Redeemer (the statue that shows tourists the position they should take when being robbed - keep your hands up and look straight ahead), Sugar Loaf, etc. Easy and cheap.