From Hohenklingen Castle, you have a view of everything that matters: On the right, the comfortable youth hostel with a large playground, next to it the Riipark lido, on the other bank of the Rhine a church bell as old as the Swiss Confederation - and on the left, the small town of Stein am Rhein, where you can dive into the past in one breath. Richly painted facades and church walls, half-timbered houses and oriels line the town hall square and the alleyways of the old town; in the Lindwurm Museum you can dress up you for a short time as a middle-class inhabitant from around 1850. Back in the present day, there are plenty of cycling and walking routes, depending on your level of fitness, either leisurely along the waterfront or steeply through the hills.
Dogs are only allowed in private rooms. More info here