Rainbow, as mentioned, is a nice spot that will valet. They have good food and a good beach.
At the very end of town, you can park along the road and take the short path down to the beach at Grand Case Beach Club, where you can rent chairs and get chairside service from their bar/ restaurant. I prefer this to Rainbow as it is quieter.
There's a good sized parking lot near Calmo's cafe. You can park here and go to any number of beach bars in between Rainbow and GCBC.
Tropics is a newer, casual beach bar / restaurant opened by one of the bartenders from Hotel L'esplanade. I didn't try it on our recent trip, but plan to check it out when we return.