I'm affraid I am not well versed in Mendicino however when I make the drive up to Oregon I usually stay here at MacKerricher State Park Epic mountain biking. Breaks up the drive pretty evenly.
I've also done the Lost Coast. Absolutely life changing. Mulri 3-7 day backpacking hike walking on sand so this one will hurt your hips and hurt your knees and hurt your ankles and hurt your back. Black bears too just for added fun. Rough ocean, elephant seals, dolphins. I'm sure there are sharks in the water if you are brave enough to swim. Probably not what you are looking for but do it someday.
For beers and dogs close to SF I'd do Butano or Henry Cowell.
Butano has two camping areas. One for cars and one a walk in. The walk in sites are better but you have to haul your stuff about 200 yards. Not a big deal. Real nice. No swimming but the ocean is not far. Relatively safe ocean swimming at Bean Hallow State Park. Pesdadero is nice little town. Check out the elephant seals at Ano Nuevo.
Henry Cowell is a little farther but it has an epic swimming hole and car camping and is dog friendly. Plus it is located well so you can get out and move around.
Go Giants!!!!!!