Not too far up to Malham for the
Cove and the limestone pavements, also there's
Malham Tarn a little further on.
Bolton Abbey area is very picturesque too, with Bolton Priory and nice woodlands, saw a Kingfisher very close to the Strid last time we were there.
If you want something more rugged, maybe drive up to Horton-in-Ribblesdale and have a hike over to
Pen-y-Ghent, a fantastic little hill.