You could certainly do Rome on your own, whether you could squeeze in the four Basilicas plus the Colosseum, you would need to lay out a timetable.
Time from the port to Rome is relatively easy, 1.5 hours or so, no need to book tickets ahead, but the wildcard is when you start. The schedule may say you dock at 7 AM (for example), but then what time can you get off the boat and on your way? That can be an hour or more.
All of the basilicas can be reached using Metro, maybe bus, and some walking. Only St. Peters will take some time at security getting in, depending on the crowds. You can go to the official site now and reserve an entry time and audio tour, but then you need to pick a time that works, without causing disruption to your schedule or a delay, but also not missing your entry.
For the colosseum, probably best to get tickets long ahead, either from the official site or via a tour, again, you have that timing issue.
Then of course you have your deadline to get back to the boat. Unless the boat is overnight in port, trying to fit everything in a day is tight to impossible, it all depends on the time available.
For Salerno, it depends on what you want to see. The big attraction is Pompeii, the train station is near the port, and there are trains to modern Pompeii, with the ruins a walk or taxi ride away. You could take the ferry, or bus, up the Amalfi coast, or even visit the Greek temples at Paestum to the South. You could consider a private driver to take you up the Amalfi coast, maybe a stop or two, and end at Pompeii to view the ruins, getting yourself back to Salerno. Lots of "on your own" options.
For Catania, the main attraction is Mt. Etna, you might consider the cruise tour option for that, or find something local, harder to do by public transport or on your own. Catania is worth a walk around, but not the main attraction in the area.