You could go to Polperro, stay outside the village at Killigarth Manor Park but be prepared to do a little walking down to the village!
Village is beautiful, but i'm a little biased as I spent many a happy summer holiday there when I was a kid, visiting family. I can definately reccommend a great Restaurant right in the centre of the village Nelsons' Restaurant has been run by my aunt and uncle for the past three decades (sadly both have passed away but their son is still working hard to keep the place going) the food is as good as ever and the service second to none. </end shameless plug>
(see TRAGO MILLS!!!! This store is a must visit for any camper, they quite literally sell anything and everything, think Wilkinsons over upto 4 floors depending on the store and lots of specialist sections for tools, boating, camping, shooting etc etc, you name it they probably have it, especially at the bigger store in Liskeard (not far from Polperro), you can probably spend all day in there too)
Lived in Falmouth and Penryn for a while, Falmouth is a good place to spend a day, a little shopping street lots of boating based things to see including the docks (usually a couple of large military ships in for work and sometimes the odd multi-millionaires gin palace (was visited by 'The World') while I lived there. Nice costal paths around from Gyllyngvase Beach (sand) to Swanpool Beach (shingle/sand) which will take you around Pendennis Castle (castle and second world war fortifications) past the Falmouth Coastguard (possibly one of the most important coastguard stations in the world, who help to coordinate rescue operations worldwide) so lots to see and plenty of places to sit, have a cup of tea and watch the world go by.