One afternoon we decided to go to Monterosso so we bought tickets on the ferry. You get a good perspective on the coastline from the ferry. The Ligurian Sea is rough near the coast so a couple of days while we were in Manarola the ferry didn't run. Most of the villages have what they call a harbor but there aren't very good docks.
The ferry schedule is posted all around town.
Here is the ferry we took approaching Manarola.
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