Regional variation matters here
This is one of the clearest examples of how important regional awareness is in Spanish. A sentence that is perfectly innocent in Spain (Coge el bus) can cause embarrassment in Mexico or Argentina. The safest rule: use tomar whenever possible, and only use coger if you are confident you're in a Spain-Spanish context.
Other "take" verbs
Spanish has a rich family of verbs for taking and carrying: llevar (to take/carry somewhere), traer (to bring), sacar (to take out), quitar (to take away/remove), recoger (to pick up/collect). See our llevar vs traer guide for that pair.