There's a pay and display car park in Zennor, as I recall. Lovely little place. Worth parking there for a little look around before or after your jaunt. :)
The pub is very nice in Zennor, friendly and with nice beer and food. And if you're too lazy to go hauling yourself up a hill, then the Giant's Rock is a truly superb thing not far away along a flat path (and over a wall). And there's a mermaid in the church. Ah it's lovely round there.