I stayed at the SAS Millennium on my last trip and loved the hotel so much I am staying there again this year. It isn't the closest to the ship, but it is well located for the sights of Amsterdam. The breakfast (included) is wonderful.
The ADMIRAL is an old warehouse from 1787 with a superbe atmosphere. It is near the Queen+s palace Amalienborg - and also some minutes away from the mairmaid.
The Star Princess will stay at the Orientkaj (in english: Orient pier) Kaj Number C254 at the Free Port (see my other link). The pier is located at the right side above of the port map.