Can't say for HH because while I visited the resort last Aug, I never visited the beach. At VB however, there is no life guard at the disney beach, but the public Wabbasso beach right next door does have a lifeguard.
Vero Beach is on the beach. Some rooms in the main Inn building have great ocean views. Most other rooms, while ocean front, have views obscured by palm trees and thick vegetation.
HH you can bus or walk to the beach---maybe 10 min away I think ? Like I said, we did not visit the beach when we were there so not 100% sure.
Maria