We did a self guided tour which is ample in this small town, however do your research ahead of time and get your own maps off the internet. There is many interesting sites and not much time so pre plan your route if you are able to.
We took the ships Coastal Highlights Tour. The tour was ok but we had a terrible guide and got little useful information from him. I would try to find an independent tour, but I was unable to. The scenic drive was enjoyable. We also went to a good resturant for lunch.