Your dinghy will be the water taxi at either of those anchorages -- your guests can walk to Lindbergh from the airport in 5 minutes and a beach pickup shouldn't be more tha wet ankles at either beach. They will have to take a taxi to brewers - 10 min ride - but the same beach pick up procedure by dinghy. Brewers is much more peaceful and flat if you stay overnight.
Waiting at Yacht Haven is not really adding much time to their arrival -- depending on when you would leave the dock to go get them.