Hike to Kirby Cove Campground

One of the best views of the Golden Gate Bridge is from Kirby Cove at the base of the Marin Headlands. This trail passes through a grove of cypress, eucalyptus, and pine to a one-of-a-kind view of the Golden Gate Bridge and San Francisco Bay as you look east to a panorama view of the city. The steep, mile-long trail to the cove begins at the parking area above Battery Spencer on Conzelman Road, which is eye-level with the bridge's towers.

This trail to this place is great and not too long. About a mile down and you'll see campgrounds where I believe you can camp during the summer months. Walkthrough those and you'll end up at the beach! 

There are bathrooms down by the campgrounds since they're campgrounds, so you could bring a picnic and spend all day down there!! Campground reservations go quickly, make sure to reserve well in advance.