Arillas, on the mainland, is fast becoming my favourite stop. It has a long, gently shelving beach with a little harbour at one end which provides pretty much all round weather protection.
The little harbour is rarely crowded although you may find the odd yacht or fishing boat moored up there. It is possible to fill up with water if you have a VERY long hose.
The beach is great for paddling
And then there is Zoukas Restaurant run by the welcoming Christos and his family. This is the best place to have a drink, catch up with the wifi, play with a kitten, relax, watch the sun go down, eat and generally feel that the world is a good place to be.