Plenty of people have been to the Marin Headlands which has beautiful views of the bay but it can be crowded with tourists. If you looking for a quieter more peaceful setting with comparable views continue over to Tiburon.
Tiburon is a great little town with plenty of dining and shopping just north of San Francisco. Its harbor also serves as the launch point for trips to Angel Island State Park. (on my list still) We went exploring here and also found an amazing place to go hiking with unbeatable views of the Bay and SF. The header photo for this site was taken there to give you a little taste.
To find it follow the link here
There are three places you could park
The Old St. Hillary Preserve I usually park somewhere around here Follow the trail that leads up to the fire road.
At the end of Vistazo Drive-Walk the fire road, bear to the right when the trail splits off and follow the trail up to the top of the hill.
The north end of Straights View drive-Follow the trails up to the top.