Taunton's not the best place for pubs, but unless anyone's travelling by bus or train there are a few good village ones around.
Went to the Bird in Hand at North Curry two weeks ago - pleasant
LINK but not sure of the best route by car, and this one,
The Anchor at Hillfarrance is also good for a bevvy. (My bike seems to turn into it all on its own after rides on hot days - so haven't been there much this year). That one is easy by car, from the Taunton to Milverton & Wivvy road.
Neither has thrown me out for being a hot and sweaty cyclist (yet), unlike some others in the area.