As Suzdal is a very small town of only around 10,000 people, it is a place that is very easily navigated on foot.
In bad weather (especially rainy weather) you should bear in mind that many of Suzdal's streets are not paved and so can become very muddy, so bring appropriate footwear with you. Similarly in winter, the town is usually blanketed in pristine white snow, under which is almost always a precarious layer of ice, so sturdy boots are a must.
The cost of travel in any municipal transport: 19 Rbl.
For getting to the bus station to catch a bus back to Vladimir, you can choose to walk for 40 minutes or pay one of the local taxi drivers 100 - 150Rbl. to drive you there. The buses heading to Suzdal bus station from the main square leave very sporadically.
Popular taxi companies in Suzdal: vladimir.rutaxi.ru and taxi.yandex.ru.