Best bet is the cell phone lot... and do not bother heading to terminal until they have their bags, or if carryon - wait until they board or exit the tram. You can pull up to curb and pick them up. If you want a calm experience, you could enter the parking garage and tell them where you are and they can come meet you.
Also, get their flight number and check the "status" on the airlines website.
I guess it depends if you want to meet them inside or at the curb. Tell us more.