We haven't stayed in either but have spent several nights at Hotel Mamela some years ago, which is just one hotel up the street from Albergo la Minerva, so can vouch for the lovely views from rooms facing the sea in that particular area. At least our room had a very nice one! Hotel Excelsior Parco sees excellent reviews indeed but personally, I'd choose Minerva so as to be easier walking distances from the Piazzetta, more restaurants and other tourist amenities in the town center. Your location would also be just removed enough from center to be peaceful.
Having done a virtual "walk" up to the town center from the Excelsior, I can pretty much promise that you'd be making liberal use of their free shuttle service. As one guest put it, "Roads are narrow and pedestrian access is limited between the port and the town." Yep, I don't know as I'd want to walk up to/down from town center on Via Marina Grande (BTW, road noise has been mentioned by some guests) and we've trotted along the sides of busy streets/roads that I'm pretty sure would inflict a load of anxiety on the more timid tourist! HA! Using the shuttle apparently doesn't bother most guests but it's not something I'd personally like to have rely on. That hotel also doesn't have a pool, if that's important to you?