You can view all of the hotels in Malibu along with customer reviews, here:
(Link and scroll down for the list in the center column. The hotels are listed in "order of preference" based upon reviews of your fellow travelers (first in the list, i.e., Casa Malibu,is most preferred, and so on).
There are no motels on the beach in Malibu, but there are two directly across the street, on PCH itself. Be careful you don't choose one of the motels on PCH that are not near the Pier, as there are a couple, but are near Point Dume.
Malibu is not known for its variety/choice of motels/hotels - there are only a few properties and that's it.
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