Next is Castillo Gibralfaro, near which there is the only place (36.723750, -4.410222) to leave a car, but there are few spaces and the car park is always full, unless you arrive early in the morning.
There is also the Parador de Malaga Gibralfaro hotel (booking.com), which offers good views and is open to the public.
Getting there: on foot, it takes about 30 minutes to walk from the centre, and this is probably the best option. By bus 35 or by taxi. By car, but there are virtually no parking spaces.