CClaude, mattyj, tarol made some great points. I'll chime in again on a few points in case staying in CO isn't an easy option. Specific location matters (as a few of us mentioned above).
I find what is being referred to about dogs a major exaggeration (I have 2 that go out with me all the time, but there are a few places they can't go...state parks and some county parks/open spaces). As far as the beach, Carmel is as dog friendly as can be, but many other areas have restrictions.
Yes, the county parks don't want you out in them after dark; some people go to work early/get off work early, others go at lunch or get their exercise elsewhere. It's harder to take advantage of those particular parks in the darkest part of winter.
Morgan Hill area was mentioned, which I live near. I generally don't go to Tahoe, but by taking a southern route out of the Bay Area, I can get to anywhere south of Tahoe (Kirkwood, Sonora Pass, Yosemite, the NatForest south of Yosemite, Kings Canyon, Eastern Sierra) without much traffic, and in a similar or better time frame as people who live to the north.
