If your looking for the simplest, most direct way to get to your holiday accommodation then travelling by taxi will be the best option.
Malaga airport transfers can be easily arranged with Marbella Taxis, rated number 1 on Tripadvisor for taxi transfers.
Simply book your transfer from the airport online and their driver will be waiting for you in the arrivals area. Pay your driver upon arrival at your accommodation in Estepona. Even if your flight is delayed, there's no need to panic as they will be monitoring your flight so they can collect you at the right time.