Renting a horse is the best way to explore the area. Walking in sand is tiresome. Camels are moody and they spit sometimes. Horses are easier to ride and more familiar to most Westerners. Make sure you haggle for a good price. All rentals come with a guide (riding a separate horse) who might even know a few things about the pyramids. You can arrange rentals in Nazlat el Samman, the village just below the Giza plateau.
Using a horse has another benefit. On horseback you're allowed to stay after the area closes. You can even gallop across the dunes beside the pyramids.
You may want to walk inside the pyramids, but there is not much to see inside, and officials herd people through like cattle. If the area is crowded, consider visiting a tomb elsewhere, such as the nearby Saqqara pyramids, which are more ancient and less crowded.
Explore the inside of Mykerinos' pyramid if your time is limited. Of the three pyramids, it is the smallest but has the most to offer. Unlike the other pyramids, Mykerinos has several temples and is in decent condition. Outside the pyramid are the three smaller pyramids of queens.
Avoid being taken by touts. A tout is someone who, for example, tries to sell you trinkets or offers to be your private guide but is not a licensed guide. Touts don't wear badges or signs but are easy to identify because they will walk right up to you the moment you enter the area. Be polite, firmly say no, and understand this is just part of the game.
Remember that the pyramids are Egypt's biggest tourist site. Also, remember that haggling for a price is expected. Before leaving your hotel, ask the receptionist about standard prices. When you arrive at the site, if an inflated price is quoted, don't let them overcharge you. Stay cool and request a lower price. If they refuse to budge, smile politely, say thank you and walk away.