We stayed double the time we intended. We only went to Milazzo because the weather wasn’t good for a boat trip to Stromboli from Tropea. Had never heard of Milazzo. We were in a hotel (hard to find without co-ordinates but it is on the main esplanade). The host, Diago, is very customer focused, knowledgeable about the area and a happy and helpful bloke. The room was a bit small but comfortable. Our view from the balcony over the esplanade, the shore, the bay and the hills was stunning esp as we had great weather. There’s a lot to like about Milazzo and everything in town is very walkable, even out to the cape. We found the entire area safe to walk anytime. Plenty of dining, gelato, coffee options.
Note, you are on the busy waterfront so noisy at times but the upside outweighs the downside by heaps. Boat trip was 5 minutes walk away and excellent (and Diego will help with that).