At Mattole, you can set up camp right on the beach and fall asleep to the calm waves of the Pacific.
By day, you can embark on day hikes along the North Coast Trail, like the popular 6-mile (9.6 km) roundtrip day hike to the Punta Gorda Lighthouse, which was built in 1911.
Be sure, however, to time your hike with the tide as one stretch of beach gets fully engulfed during high tide and being stuck there could be deadly. You should wait to cross this section until the tide starts waning into low tide. View this impassable zone on a trail map. And view the tide prediction table for your desired dates.
For a longer and more challenging hike, you might enjoy the 8 mile (12.8 km) roundtrip Horse Mountain Creek Trail, which will take you 1,700 feet (518 m) up a scenic mountain ridge and back.
Tent/RV sites $8 (14 sites in total)
Picnic tables, fire rings, vault toilets, wheelchair accessible
I highly suggest avoiding the campground on Memorial Day Weekend (late May). Summer weekends can also be especially crowded, so try to come on weekdays instead.
Most of the road to Mattole Beach is paved but the last mile or so is not. I would avoid bringing an RV (that you love!) here, as that last mile can be rife with potholes.