atmega ports can provide upto 100mA I guess. Current requirement for these vibrator motor are quite small. I'm sure you can use port pins, but its always a good idea to do the testing before actually connecting it to your controller.
connect motor to 3V supply and check how much current it draws. Based on your result, decide if you can use port pins or not.
Tx- Rx pair you can go for smd. That will reduce your size and you can embed these sensors as well on your main board.
Using Power window motors is not gonna work for you, since they are quite big looking at your requirement and they have huge torque, which in your case will be redundent.