We opted to just walk around Bergen by ourselves, which is very easy to do. The picturesque wharf area has many interesting shops and cafes, while the fish market displays that day's catch. The line to ride the funicular train to the top of a nearby peak was too long for us to wait. If this is a must for you, consider a paid tour where priority boarding is included. There is plenty of history around also, including the Rosenkrantz Tower and surrounding buildings. You can walk the grounds for free, but there is a fee for admittance to the tower itself (~$10).
After the cruise, we had arranged with White Cliffs GeoTour, owners Les and Simone Richmond, https://sites.google.com/site/whitecliffsgeotours, to see the cliffs of Dover, tour Canterbury Cathedral, visit Winston Churchill's Chartwell home over in Westerham, and then return to our London Hotel. Les and sidekick Jo met us at the pier with no problems, and we were off. We spent an hour looking at the cliffs, a couple of hours walking through the cathedral, and three hours touring Chartwell (including lunch at the visitor's center). Even though this was a long day (it's about an hour's drive from Canterbury to Chartwell, and then another 2 hours back to London) each stop was well worth it. Les had it all figured out and we enjoyed his company thoroughly. We would certainly recommend White Cliff GeoTour.
The highlight for us was Chartwell. Having read the great man's biography, we really enjoyed all the historical memorabilia in the house, as well as his famous gardens and ponds. The grounds are beautiful and it made for a nice finish to our vacation.