If you're dropping off some friends at the Bayport cruise terminal. instead of turning right on Port Road continue straight and turn left into El Jardin. Follow El Jardin Drive to the end and park in the teeny tiny parking lot. You should have the best view of the ship leaving. I haven't yet been charged for entering the beach/park, but in the summer there's supposed to be a fee for non-residents.
Pier, sandy beach, frisbee-suitable park area. Nice and quiet!