I assume by your post that you only want one room. To me that suggests that you want a Suites Hotel, either Embassy or Doubletree probably.

I'd like to know if you are looking for a 'resort' or just a 'location'. The Embassy Suites in Seaside (near Monterey, CA) is very close to the beach, 1 block away, and an easy walk. You'd need to drive to get to Monterey. Embassy Suites in San Diego is convenient to the downtown and to SeaWorld and the Zoo. The wharf is right there, but you'd have to drive to find proper 'beach'.

There are the ever-popular Hilton Hawaiian Village (Waikiki - directly on beach) and Hilton Waikoloa Village (Big Island, has pools and contained beach but not ocean facing beach), but I'm not sure you'd fit 6 people comfortably in a single room without an upgrade.