I visited the Forth Bridge in 2007. The picturesque monument is stunning. My experience at the bridge was based on an afternoon visit to Queensferry, and travelling across the Firth of Forth itself several times. In addition, there is a pleasant view from Blackness Castle that really showcases the massive scale of the Forth Bridge. During these excursions, I was able to appreciate multiple views of the Forth Bridge, which enriched my appreciation of this iconic Scottish landmark.
I've read there are plans being implemented for a visitor center and platform. I do wish this was available in 2007, but I can't complain. I enjoyed my quite and serene stroll within the waterfront area of Queensferry, with the Forth Bridge towering above me. Perhaps the 2nd best way to visit the Forth Bridge is actually riding the train, since this engineering marvel is still very much in service, though pictures may be difficult!