One of my favorite spots in Santa Monica Bay is Palos Verdes Peninsula, at the south portion of the Bay. There are steep cliffs all around the peninsula and many vista points.
Malibu is a great place to visit and there is an anchorage called Paradise Point where there is some protection from the north wind and waves. There is not landing for dingys, but plenty of sightseeing along the Malibu coast.
Catalina Island is a real favorite, as there are a number of points where one can disembark and explore the island. Avalon and Twin Harbors the two main stops, and, if anchoring, there are shore boats to ferry visitors to land.