I've seen Corozal taxis in Chetumal so I assume you can go to the ADO terminal by taxi. The fare from Corozal Town to the border is about BZ$25 (±$5) -- probably double that to the terminal.
If you get a taxi that won't go further than the border area, just get a Chetumal taxi from the border to the ADO terminal -- that fare should be about 70 pesos.