Yes, you can walk to the parks from PBH. It's a lovely 10-12 minute walk. As I'm sure you know, you can also take the water taxi. We had a deluxe pool view room with a terrace. It wasn't exactly at ground level - kind of hard to explain. You can't actually walk out to the pool, but it's a terrace rather than a balcony. We loved this room, however, it was a LONG walk from the elevators. I'm sorry I don't remember the room number.
We enjoyed our stay at PBH very much. It is very calm and relaxing after a busy day at the parks. Everything about this hotel is first class.
Have fun!