You will get many answers. Bike racks and RVs creates one of the most polarizing discussions on this forum, right up there with gas vs diesel. Quick answer: Some folks are using ladder racks with no problems, others have reported ladders loosening. Some people have added racks to their pin boxes. Some (myself) have added beefed up receivers to the rear. Others have devised various means of carrying them inside. With only one bike, I would think inside is the way to go. Put "bike rack" into the search field at the top of this page and you will be inundated with threads!
1988 Coleman Sequoia - popup (1987-2009) - outlasted 3 Dodge Grand Caravans!
2012 Roo19 - hybrid (2012-2015)
2016 Mini Lite 2503S - tt (2015 - ???)
2011 Traverse LT, 3.6L, FWD
2009 Silverado 1500 Ext Cab, 5.3L, 4x4, 3.73
2016 Silverado 2500HD Dbl Cab, 6.0L 4x4, 4.10