Pier 37 sounds really nice and I too like the idea of a private room. The $33 minimum per head you said Atlantia might not have the gratuity included which restaurants add on for groups depending on the number of people usually. There will be 5%GST on top of that for food and 10% tax on alcohol as well.
On looking at the location of the restaurant from the hotel it would probably mean having to get a cab to get there and back; estimated cost each way for cab fare is $14.00, up to $23 if the traffic is bad, but if it's split 4 ways it's not so bad. I have no idea about the availability of public transit to get there from the hotel since I'm not that familiar with Richmond, only driven through bits of it to get to Steveston or the airport from where I live.