For enjoying good views of Águilas, we suggest two places.
One is the Castle of San Juan de las Águilas, an accessible spot where you will have bird's-eye-view of the town of Águilas. Looking East, you will see the port, beaches, bays, Fraile island and Cope Cape, whereas looking West there are a number of beaches going down to Almería.
The other place we suggest is on top of the mountain where the Fraile Development was built. To get there, take the DM-14 road towards Calabardina-Cabo Cope. The road is signposted in the bypass of Águilas. Follow the road through the development until the end. Along the way you can take detours to the lovely cove of Cigarro-Cala Amarilla and Fraile island. Once on top, there are great views of the Bay of Hornillo, Cope Cape and most of the coastline of Águilas.