I agree with the plan of picking up on the Departures level as it's typically faster and easier.
But one note is that buses, taxis and shuttles operate on Level 1, separate from the "Arrivals" level (Level 2, the one that baggage claim is on) that personal vehicles are directed to.
If your family gets there early, there is a free Cell Phone Lot just south of the airport. (If they're arriving from the south, they'll see it as they approach. If they arrive from the north, they'll have to drive past the terminal and head toward the South Exit to get to it) I think the Cell Lot even has WiFi.
When they come to pick up you up, go up to the Departure/Ticketing level. Tell them which side you're on (A or B) and then go out to the curb and go all the way to your right so that you can tell them you'll be down at the far end of the terminal when they approach.
-Rob