If i had to visit one village in exmoor, towards the north preferably which one should that be.
What are you interested in : the best pub food, scenery, dog walking opportunities, architecture, a great beach, real ale, woodlands, castles etc ? The answer will vary upon which one you choose.
A lot will depend on how you plan to travel.
So I'd say Dunster. It has public transport, accommodation, walks, a castle, a watermill and medieval village, safaris to explore the moor leave from there and guided history walks.
There is also some very good walking around there.
And there is a beach with very British beach huts. In fact you can stay in some of them.