Here's a classic shot of driving across the Golden Gate Bridge, headed toward the gorgeous Marin Headlands. The views of San Francisco from the pullouts on the Marin side of the bridge are beautiful, but the traffic can be crazy. If you don't want to contend with long lines of cars, get there and enjoy the view of the city by the bay before 10AM.
Fortunately, there are plenty of transportation alternatives for visiting the Golden Gate Bridge. According to the Golden Gate Bridge Highway and Transportation District, "We strongly recommend using the other means of visiting the Bridge as described on this page. Parking is extremely limited at both the southeast and northeast visitor areas of the Bridge, and ongoing construction projects in the area may temporarily close roads leading to the Bridge." More information can be found on the district's website.