Sausalito is a very pleasant town to stay in with its Italian seaside town feel. It's also easy to get to SF from Sausalito (with the ferry ride).
I have stayed at many SF hotels frequently and some of the hotel people even know me. I personally like the boutique hotels (such as the Kimpton property) better than the major chains, simple because the rooms are more unique, nicer with a warm home feel and comfortable beds.