In Ponta Delgado we simply walked from the ship and wandered around the town. Nice place, nothing too exciting but after seven days at sea we were happy to be on land.
In Barcelona there was a shuttle from the ship into the square with the statue of Columbus at the base of the main street. We used the hop-on hop-off bus. There are 3 routes, one covers the main parts of the city, but a separate one goes to the sacra familia, the unfinished catherdral started by Gaudi over 100 years ago. It is the main tourist attraction. The gothic cathedral and area are another great place to walk around.
In Lisbon, there is a shuttle that takes you from the port into the city. From there we walked around the area a little and then climbed through the old section of the city up to the castle. There is also a great train service that runs through the city where you can get to other sites like the navigator's monument or the monastary.