Definitely. On our first visit with our kids back in 2016, we spent 2 days in the parks and then took a whole day to explore Hollywood, Griffith Park and Observatory, drive over to the beach in Santa Monica and play in the sand, drive up to Malibu, get some In-N-Out. Then we came back and did 1.5 more days with an afternoon excursion over to Huntington Beach to check out those beaches. That was back when we rented a car. I feel everyone needs to go down to Venice Beach at least once. It's so weird and so very awesome. That's LA to me.
If I were to do it again, I would either tack it on at the beginning or end of the trip. I like San Clemente if you want to go south for beaches. Just a cool town. You can go up to Laguna Beach or Huntington Beach from there.
If you're going north for beaches like Malibu or Point Dume, I would stay up in that area or Santa Monica.