Car Services
Manhattan offers a number of car and limousine services.  These services generally require advance reservations (which can be made online), allow credit card payment, and offer rates that can be comparable to taxi fares.  Two reliable services that we have used, both of which serve all airports, are:

Dial 7 (a reliable and inexpensive service; they do require you to call them when you arrive at the airport and will meet you outside the terminal).

Elite Limousine (also reliable, they offer some higher-end options such as meeting you inside the terminal).