how to get to top destinations in Macau

According to my experience, it is not necessary to book a car or using taxi to travel around in that place.
From Senado Square, there is no direct bus to the airport. If you want to take the bus, it is suggested to go to the San Ma Lo Station to take the bus.
In my opinion, if you go to M from Zhuhai, you can use the free shuttle bus to reach Grand Lisoba Hotel, store your luggage there and then heading for traveling.
You can walk along the San Ma Lo to get to the Senado Square and the St. Paul Ruins and even the Monte Forte. Then from the Ruins, you can try to find the local public bus line 15A to the A-ma Temple to have a visit. And that you can take the same line to go back to the San Ma Lo area for a lunch. Then walk to the Lisboa to get your luggage and then walk to the Sintra Hotel along the San Ma Lo to take the free shuttle buses for the City of Dreams. Then walk to the Venetian Hotel for visiting.
After that if you still have time, you can head for the Sands to travel and there you can walk to the Fishermen's Wharf and then take the free shuttle bus of the Sands. Then go back to the Venetain to take the free shuttle bus for going to the airport.

One day is enough for that place and hope you can have a nice trip there.