Walk the cultural centre
A walk around Praça da República and the church can be combined with time elsewhere in the town. Add the museum as a separate stop according to its location and the route that suits the group. Try the walk back to your accommodation early in the stay. This is particularly useful if you will later return tired from a long trail stage and would rather not discover an awkward final approach.
Treat the beaches as road outings
Castelejo and Cordoama are different destinations from the town centre and from each other. Name the entrance when arranging a lift and use established parking when driving. A beach day should include the return plan rather than end with a search for a vehicle. Choose one main coast stop at a time so the outing leaves room for the landscape instead of becoming a sequence of short arrivals.
Use regional services for named stops
VAMUS is the source to consult for regional journeys, including any itinerary you want towards Sagres or Lagos. Read the stops and operating days carefully and pick a return before committing to an evening out. A service to a town does not necessarily help with every nearby beach or rural property. An occasional taxi or transfer can bridge a specific gap without requiring a car for every day of the stay.
Arrange walking stages around their endpoints
Rota Vicentina routes connect Vila do Bispo with the wider southwest, but each stage is a proper outing. Obtain the map and warnings and compare terrain, exposure and your ability. A one-way route needs transport or a bed at the far end. For a town-based stay, investigate circular options or an arranged return. Do not use a beach shoreline or a roadside line as an improvised substitute for an established route.