This is the best way to discover Lake Como as the villages are small and parking scarce. Most often the stop is right in the heart of what you want to discover.
The best schedule for understanding departure and arrival times is the website Ferry Boat Schedule as printed schedules can be less accurate. However, do keep in mind this is Italy and if a boat is missed don’t fret the next will hopefully arrive soon.
Lastly, keep in mind that the boats in the central lake (Varenna, Bellagio, Menaggio