I find the ship's tours to be more expensive than just taking a cab. As soon as you get to the end of the pier there is a stand there for taxis and tours. Alot of the time there will be many people there who want to go to the same places, so you go as a group and it's cheaper per person.
Nelson's Boatyard is a great place to a historic colonial dockyard. It has many small buildings that have nautical displays in them. There is a small hotel there and also a nice reasturant. All right on the water. The landscape and grounds are kept up beautifully and it's very peaceful just walking around.
Shirley"s Heights is of course located at the top of a peak. The view looks down apond Nelson's Boatyard and some hotels and some pininsulas and islands. The view is one of a kind and just georgous. There is a reasturant located up the along with some local vendors selling their wares. They are not pushy.
Pineapple Beach is my favorite. It is not crowded. The sand is like powder with a gentle slope into the water. There are places to eat or just have a drink. There are the vendors again. You can rent a chair or an umbrella. You can snorkel. The is a hotel there called "Long Bay Beach Hotel", where I would like to go if I didn't cruise. It's on the internet and tells about the area.
Enjoy!