I used to live in Castro Valley in the Five Canyons neighborhood built by Centex for several years. I can tell you that it is a very good neighborhood as is Palomares Hills built by Shapel Homes. The schools are excellent in most of Castro Valley, but the schools in Hayward are not that great although you the homes in Hayward Hills including Stonebrae, Bailey Ranch are beautiful. You certainly have views from homes in both Castro Valley and Hayward especially the neighborhoods I have mentioned above.
We later moved to Pleasanton and I can assure you that Pleasanton is also a very beautiful City with so much going on in downtown with awesome restaurants, farmers market, shopping, etc. The Alameda Fairgrounds is in Pleasanton and we look forward to the happenings there.
I would be happy to help you find a home with a view if you are still in the market.
By the way I just realized after finishing this answer that I had already answered your question in 2012. As you can see, I talked about Castro Valley but have since moved to Pleasanton.
Help-U-Sell Achievers Realty