Into Chichester Harbour is lovely, up to Bosham with the tide, walking on beach at East Head Spit/West Wittering. Various pubs possible depending on where you moor. We spent a couple of days there over the early May bank holiday in our sailing yacht and really enjoyed it.
I quite like Bembridge, a quiet place with a tidal entrance, I vaguely recall berthing seems to have become quite expensive this year. Portsmouth I guess there's plenty to do, loads of pubs/restaurants and numerous berthing options, but isn't my favourite place - a bit too built up for me!
I definitely have Beaulieu towards the top of my list as well!