detailed bus itineraries for the two bus lines can be seen here and here - the 7003 bus also stops in copacabana along avenida nossa senhora de copacabana, at the bus stops marked brs3. 

shortly after crossing the rio-niterói bridge, it is necessary to exit bus 7003 at the main bus station terminal rodoviário joão goulart.   

bus 7003 does not enter the bus terminal but stops in front of it - the bus terminal is easily recognizable on the right side of the bus, and  many passengers get off the bus at that stop.