I have visited Drake's many times. It is a great spot, but in an absurdly inconvenient location. That said, if they have the aroma coma on tap (check online), then it is probably worth the hassle.
In SF the places I recommend are Speakeasy (only open Friday 4-10 and Saturdays, I think), and maybe 21st Amendment (I don't like their beer, though). But about every bar in town has good beer and there is no reason to look for a "beer bar" because almost every bar will have a nice taplist (10-12 craft beers on tap is normal in SF). If you go to Zeitgeist (not what it once was) and there is a scary old lady selling tamales out of her cooler, BUY ONE! I recommend the cheese, but the pork is also very good.
Oakland and Berkeley are better beer destinations and BART will take you about everywhere you would need to see in Oakland and Berkeley. A list with the appropriate BART station: Triple Rock (Downtown Berkeley), Jupiter (Downtown Berkeley), Barclay's (Rockridge), Ben and Nick's (Rockridge), Beer Revolution (12th St Oakland), the Trappist (12th St Oakland), and Cato's Ale House (MacArthur - but you have to walk a half mile to get to Piedmont Ave.) are all decent spots.
If you go to Berkeley, I would eat at Jupiter and separately get beers at Triple Rock. Jupiter has better food - especially the pizza - and a really nice patio (and the guest beers are better than the housemade ones). But Triple Rock is iconic and their beer is a lot better than it was 5-10 years ago. They brew on the same system they have been using since they opened in the early 80's an you can see it all through a glass wall in the pub - it is interesting and very much like a scaled-up homebrew setup.