Yes; use the radio taxis. The desk is right after you exit customs and there are several to choose from. BTW, it is customary to give the boy who puts your luggage in the taxi R$5. It's no big deal to put luggage into a taxi but that's hardly anything for us but means a lot to the boys. They are always most appreciative.
I would not do the round-trip ticket option. It is so much easier to just walk out the door to a taxi rather than have the front desk call the particular taxi company noted on the ticket and then wait for it.