Beach parking is generally a few blocks east of the main road A1A where restaurants abound. We prefer the Italian Courtyard and Florida Seafood on 535 just west of A1A, but there are many more choices depending on your tastes.
We have a condo on the beach in Cape Canaveral, which is just north of Cocoa Bch (north of the Pier). We like it because its just a bit less trafficked than the areas immediately around the Pier and just to the south where most of the hotels are.
Don't expect a big resorty like area when you visit Cocoa and Cape Canaveral. Its still a bit "old Florida" and is far less commercial than areas south and on the west coast.