Along the far side of the Golden Gate Bridge, in Marin Headlands, past the initial fortifications, you can follow a trail down to Kirby Cove. A little way down this trail is a side path that takes you to some World War II vintage fortifications. Unlike the vista points above, there are no fences here to stop one from scrambling down the cliffs. So you can make your way down a ways, for this direct view of the Golden Gate Bridge rises from the cliffs (double-processed from the RAW for the darker cliffs and the lighter bridge against the sky).
Click here for an image from above of the Golden Gate Bridge at dusk, one after dark, and looking out the Golden Gate from above Kirby cove by moon-and-star light.