Paula,
I don't know where your pump is located on your 2551, but..........
When we bought our 2350 back in 2007, we too had a noisy surging quick-cycling pump. It didn't sound pretty, moaning and groaning every few seconds. After getting educated about this, I installed a small water pressure tank from Home Depot and also covered the pump with a home-made wooden enclosure for noise and protection from severe impact from stuff, given the pump is mounted in my outdoor storage compartment. See here.

Since installation, the pump is just a quiet humm, and the quick cycling is gone. I estimate close to 1/2 gallon of water is in reserves when the pump shuts off. When on, it runs until the reserves in the pressure tank are back to full. It changed the feel & quality of the entire plumbing system. I think some of the "Quiet Factor" came when I re-plumbed the pump to the pressure tank instead of the RV. Both inlet and outlet hoses for the pump are now flexible, one is the no-pressure soft tube from the main fresh water tank, the other a stainless braided hose used for a faucet or toilet at home. With both in and out pipes being flexible, they dampen vibration so vibration no longer resinates through the RV plumbing.
We exclusively dry camp with only occasional electric hookup, so our water is always used on-board with the pump. It really makes a huge improvement. Other good news is that it cost me only $50 which if you are handy, you can do it just as cheap. But if not, you can buy a much more expensive pressure tank with mounting feet from places like Camping World at nearly 5 times the price.
If interested, email me direct through my profile here and I will email you the installation procedure with pictures, in a Word document. It does assume a 2350 like mine, so you'd have to deviate as needed.