Royal Palms State Beach to Cabrillo Beach Trail is a 1.2 mile out and back trail located near San Pedro, CA that offers scenic views and is good for all skill levels. The trail offers a number of activity options and is accessible year-round.
I have not canoed this route, but hiked it many times. Much of this route is impassable at waters edge but you can hike along the highway. There are many places where you can scramble down the rocks but be careful. My favorite place along the was is Point Ferman. I have watched the sun come up over the mountains to the east and light up Santa Catalina Islands to the west.