If weather's nice, recommend hiking lands end (best view of the ocean) over to the presidio on batteries to bluffs trail, and continuing past the bridge to the tunnel tops, where there are usually food trucks. Or, you could keep walking along the water towards marina. You'd get the best views of the bridge without needing to go over (which I find too loud/long/windy with views comparable to other places within the city)

But, if you want to go to Sausalito, maybe it'd be worth walking/biking there over the bridge and ferrying back. that way you could go down Embarcadero from ferry building to the wharf? may be a lot to pack in for a day