I have been to the Cinque Terre four times. Vernazza is the prettiest, but I think Monterossa is the best to stay in. You can drive there and park your car. We have stayed at Pasquale's twice and it has an excellent view of the water. The reason to go is the beauty and the hiking. Two of the best hikes are from Monterosso to Vernazza and from Monterosso north to the next town. A train connects each of the towns and the fare is reasonable. A boat excursion to Portovenere is a great way to spend your time. Two or three days there and then to Florence or Lake Como is a great trip!