I wouldn't bother to pre-book from the airport since arrival times and immigration/baggage claim times can vary. Usually I'll just pull up Google Maps once I'm out of customs and take whatever transit route it suggests.

If there isn't a well timed bus to your hotel you can take a cheaper bus to Tokyo Station (or a less cheap bus to Shinjuku or T-CAT) and get a relatively inexpensive taxi from there. But with wheeled luggage I tend to prefer taking a train.