Xtabi is one of our go to places to snorkle/swim/chill on the cliffs. As long as your spending some $$ no worries hanging out, including lounging cliff side. Coral Seas on the cliffs 'may' be another option as well. Pee Wee's also has water access. We stayed at Home Sweet Home last April and might also be a possibility for non registered guest. Again, as long as your spending some $$ at restaurants/bar.