Less than an hour away from Arcos is the magical town of Zahara. Follow the A-392 to the west out of Arcos and then watch for the signs to Zahara.
Perched on a hill underneath a Moorish castle Zahara is a visual delight to view and fun to walk around. The Moorish castle is about a 15 minute walk from the town parking lot. There are also many interesting churches and sights to see. The town is amazingly clean and well kept up. A delight to see and visit.
Just from the Mirador de Abades you can see the lake of Arcos from the top of the hill, with the typical terraces.
Even if I was born in the north, and part of my family comes form Castilla, I had been in Andalucia on holidays (Nerja and Torrox areas) but other memories where to visit my grandmother that uses to live in Motril when alive. I remember she used to have a terrace like this, and I spent hours and hours playing there. In summer she used to have a little cube that was my little swimming pool.
At Plaza del Cabildo, in my opinion the best views, but not for the other side of the city.
Here is the Church of Santa Maria, the Town hall and the Parador