We enjoy going to HMB with our dog, too. Just to add one more place to pamf's excellent list: Sam's Chowder House, just before Pillar Point. They have a nice heated patio with a view, and the beach just below the restaurant is dog-friendly, too!
http://www.samschowderhouse.com/index.php
We've never taken the pet to La Costanera, but we enjoyed the food there very much. Sam's and HMB Brewing Co. are both pretty good, too.
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