Have you considered Burlingame or San Mateo? Not too far from the city and almost halfway between San Francisco and Mountainview. Very accessible to the city and the airport in case you want to do some Mileage runs.
I think Burlingame is cute but I don't think it fits the OP's criteria of urban. It's definitely more suburban, albeit with a cute little downtown and at least one great restaurant (Pisces). San Mateo is even more suburban feeling.