I can highly recommend Warwick House in Penzance. A lovely little family-run hotel/guest house. Breakfast cooked to order. Sea view from some rooms, there’s a small car park and it’s very near the Jubilee Pool.
It’s one of a row of guest houses - in the Rick Steves’ Cornwall video you can actually see it! He appears to be staying in one in the same street, but Warwick House is the pretty apricot building.
I highly recommend Penzance as a place to stay. It’s not a picturesque village but a busy town with a long stretch of coastline, plenty of restaurants and lots of good bus routes from the bus station in the centre of town.