Cocoa Beach does have a pier, but it's a little on the small side. Although, it's not listed on some sites, there are public restrooms on the pier. At least there were a few years ago.
There are some attractions there like, miniature golf (actually the whole state is overflowing with miniature golf), beaches, zoo, planetarium, Kennedy Space Center, minor amusement park, parks, casino cruises, dolphin cruises, fishing...go to www.cocoabeach.com for more information.
The Walt Disney Company has a very nice resort down in Vero Beach which is South of Cocoa Beach. It's located on the beach!
Vero Beach is a nice area and geared more to families. Of course, any place that I recommend will be geared to families unless I say otherwise.
I'm looking into finding cheap accommodations on the beach a long the Atlantic Coast...stay tuned!