Airships are complex and expensive compared to cranes... there are a whole new collection of pitfalls which your construction crew can now suffer from... as if operation in a toxic alien atmosphere weren't enough, now you have to deal with air traffic control, too.
Airships can be tethered to the ground for better stability, but the gas bags provide the lift.
One thing you'll need to bear in mind is the airship's need to maintain neutral buoyancy, something a crane does not really care about. If you load up a floating airship, it will sink. You then need to offload ballast, or compress lifting gas in order to restore equilibrium, and reverse the process when you release the cargo. You might be able to offset this by having massive mobile ballast trucks on the ground below, and a positively buoyant airship tethered to them. Accidents may now involve the airship suddenly shooting skywards at high speeds.
Erecting a bridge or tower crane requires a large team working outside.
Well, does it? I mean, you're operating on an alien world. Unless you got there by magic, there's a whole new arsenal of engineering technologies that are effectively "table stakes" for interstellar colonization.
Consider also that one of the most useful things your airship might do is to position some large tower cranes and then fly away. Ground-mounted stuff can be made arbitrarily strong and tough (up to the limits of your materials technology and the cargo capacity of your airships) and dealing with issues of power and crew access becomes much simpler.
Rigging cranes with counterweights, and assembling their masts on the ground.
Airships need mooring and ballast and fuel and lifting gas and colossal hangars in which to perform maintenance and repairs. If you are using these things, how many can you afford to support? Seems like a good argument for having few of these in order to assemble and tear down larger numbers of big tower cranes.
20-story masonry buildings (which will be domed over)
Why so tall? You get 20 story buildings in cities because land is expensive compared to the cost of constructing 20 story buildings and the value of stuffing a lot of people in that space.
Here construction is necessarily complex and expensive and dangerous, and you need to build pressure-safe buildings which are life support systems for their soft meaty cargo. Build low and wide, dig down if you need more space. Dig deep lightwells, construct around them. Invest in display screen technologies and daylight-balanced lighting systems so you can just have underground construction that seems like its outside.
Living for extended periods of time in 20 atmospheres of pressure is already known to be hazardous on Earth, so you'll need to have some magical new pharmaceuticals, or you'll need to be building pressure hulls that let you have Earth-normal pressure (or at least, a decent reduction from ambient).
Given the cost of building a free-standing 20-story submarine, and the safety implications of issues with your construction, digging or building wide and low seems like a much more sensible thing to do.
Framed biodome covering 30 acres
Don't build such a large structure from the outside. Build it from the inside, and middle, outwards. Pressurise the dome to float it up, makes construction much easier, under the circumstances.
Doesn't work if you want a reduction in pressure inside, of course.