Well. I understand that it's really confusing because we use two different words which are equivalent to one in English.
Я иду на пляж - it means that I am going to the beach by foot
But if Я еду на пляж- I am going to the beach by bus, car or train.
Please, pay attention that I use present continious here.
Я хожу на пляж- means that I usually go to the beach every day or every week. In short I do it regulary.
Я часто езжу на пляж на машинею mtans that I go to the beach quite often by car.
I hope it helps. If you have any additional questions, please don't hesitate.