For lake docking at public docks:
We like to attach the eye-spliced end of our 3/8" line to the boat cleat with a lark's head, make half a turn around the dock post, and tie the bitter end with a normal cleat hitch to the same boat cleat. That way the line can be untied from the dock from within the boat. We also typically use just the stern cleats and mid-ship cleats for this so that no one has go out on the foredeck to handle line, which can be a safety issue. If I tie to the starboard side (my preference) I can handle the mid-ship line from the helm, a nice advantage.
Other docking situations typically require more effort/lines/thought, especially if there are waves to deal with. One really good tip: If there are waves expected, tie the stern line to the cleat opposite the dock side of the boat and tie the other end of the line to a post aft of the boat. This way the line comes off the boat at an angle away from the boat. This will keep the boat close to the dock, but allow plenty of up and down motion without straining the cleat and line. I also use a bow cleat line when I tie this way and augment the setup with spring lines to keep the boat from moving fore and aft. I often do this at the Weirs docks.
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