Belstone is fine start for at north moor - large, free car park on N entry to village. Good dry tracks onto highest parts of moor - help progress and navigation.
The valleys run north-south so climbs can be easy as you like. The ends of the road networks are Dinger Tor or Okement / Hangingstone Hills, about 5m south and after these you're really in the wilds if you fancy exploring and making your own routes.
Great tors like Yes, Watern, Steeperton: incredible views.