We've never taken a cruise so I'm unfamiliar with logistic issues, although I understand ship organised tours can be pricey but do guarantee the ship won't leave without you.
I can comment on each city you're docking at, but for now will just mention Cartagena, as that might be the one least familiar/visited amongst others on here.
I suspect a ship offered tour will be to the Alhambra. That is one of the highlights of Spain and if you've not been and don't think you'll visit in the future certainly worth considering. The downside is it's about 3 hrs. each way by bus so your time there might not be very long. If you do want to see the Alhambra then doing it by yourself using public transport is not practical so a ship excursion might be best whatever the premium price.
However, reluctant as I am to suggest anyone skips the Alhambra, six hours makes it a long day-trip so instead I'd suggest you stay in Murcia Region as there is plenty to see, though nothing quite so "wow". Personally, if staying in Murcia Region, then I'd choose Cartagena for the day. Alternatives easy to get to by public transport would be Murcia city, the regional capital, Lorca or Elche (actually in Valencian Community, but quite close). However, I think Cartagena has more to see and, perhaps more variety including Punic, Roman, medieval, early modern and modern (including a Civil War bunker/museum).
I don't want to oversell Cartagena - it's not some second Rome, York or Seville. Again, it's not by any means an equal of Barcelona in terms of sights, but there is enough to fill a day or two. I'm not sure what a cruise ship organised tour would add as you can easily visit the city on your own. It's c.10-15 mins. walk from the dock to the principal Plaza Del Ayuntamiento and from there most sights are a short further walk. The top sight, a pretty brilliant Roman theatre, only rediscovered last century, is accessed from the plaza itself.
If you decide to stick to Cartagena (or indeed visit one of the other murcian cities), I'd be happy to give more suggestions. Food is even better in Murcia than most of Spain, by the way.