We just did daytrips to both Toledo and Segovia from Madrid.
For Segovia we used the La Sepulvedana bus from their station near the Principe Pio metro station. Take the Paseo de Florida exit from the station. The bus depot is across the street from the Principe Pio station, a little north (I think) of the big intersection. It's a little hard to see since I didn't notice a sign outside and all the buses are inside, mostly on a lower than street level. The bus station in Segovia is much closer to the center than the rail station, so we were glad we took the bus. The bus to Segovia was a new deluxe version that was very comfortable. The return bus was older and not so great. The ride is very scenic over the Guaderrama mountains. Just before getting into the mountains watch for the huge cross on the left in the distance. It is at the Valle de los Caidos (Valley of the Fallen), Franco's gravesite and monument to those who fell in the Spanish Civil War.
We went to the Estacion Sur de Autobuses to get the Continental Auto bus for Toledo, but discovered when we arrived there that the bus drivers had just walked out on strike. We learned that after standing in line for about 20 minutes behind many others, mainly tourists. Most of the locals probably knew about the strike from the news media, but few tourists are current with local affairs. It would have been nice if the bus companies had made a general announcement or posted a sign at their ticket window indicating that there would be no buses that day. Stayed in Madrid that day, then took the train to Toledo from Atocha the next day which worked out very well. The train station in Toledo is a sight in itself - great Moorish architecture. From the station you can take the #5 or #6 bus to the Plaza Zocodover. If I remember, the fare was .70-.75 euros each way.
GG