I live in Sherborn, which is the "sister" town to Dover. We share a school system, which is ranked #1 in the state by Boston Magazine. They're both lovely small peaceful suburbs that feel very wooded. However, Dover, Sherborn, and Weston lack much of a town center per se. Lexington has more of a defined, walkable center, as does Concord. You might also consider towns such as Holliston & Hopkinton, which both have very well rated school systems, lots of activities for kids, and are within an hour to Boston. They have small but cute town centers. I like Holliston's better - with a children's park, tennis courts, artist lofts, a general store, a few boutiques, a cafe, and a little lake you can walk to. You can find lots of info about the Boston suburbs at our blog: http://blog.realestateinmetrowestboston.com/
and website http://www.positiverelocation.com.
The house you asked about in Dover was temporarily taken off the market. It needs extensive remodeling as well as a new septic system.