Hi from Wisconsin,
You are suggesting teeny, tiny places to stay. A car in those places brings at least two issues. Parking. Parking overnight out side of town...danger Will Robinson! These places are tiny and really never designed for parking.
Two, these small places may not have a pub and or restaurant worth visiting. That means driving out for a meal or drink. Drunk driving is not really tolerated in Europe. That makes drinking a dangerous thing to do. So this is another 'danger Will Robinson' situation.
Better to visit these small places late in the afternoon after tourists have mostly departed, enjoy the views and atmosphere, then drive to the larger town where you are staying. Park your car in a secure place and then go out for a meal and a pint.
Why not consider sleeping in Truro. It has a selection of places to eat and sleep. It has a cross roads. You can head north/south, or east/west out of there quickly.
If you want to visit a real Cornwall farming town, go to St. Just. (You go to St. Ives to rub shoulders with tourists.) It is about as 'real' as a town gets. The Queen's Arms north of St. Just is also a 'real' place to eat. On Google maps you can spy the small road squiggling north out of St. Just. Off this road is where you can get to the coast and see Poldark scenery. And of course the coastal hiking/walking trail is nearby.
wayne iNWI