I like to park at the marina, on the edge of the town, and walk into the centre along the shore, passed "the Pencil" [big needle like structure in the photo], get some ice cream and stroll back.
On my last visit I also discovered a viewpoint up in the hills above the town [it was signposted from the main road]. It wasn't the best day, weather wise, but even then the views over the town and islands was worth a look. Would be great on a clear sunny day!

