Carsington, Hopton, Brassington, Kniveton, Kirk Ireton, Atlow, Bradbourne, Parwich and Hognaston – all nice villages within two miles of Carsington Water, but you'll pay a hefty premium as a result. Carsington (village) is still very quiet – and will be even more so when they finish the bike route that will then cut out the road crossing in to Hopton. If you need a School, Pub etc then be a bit more picky – Brassington, Carsington, Kniveton all have schools, and most have at least one pub.
If I had to pick a town I'd go for Wirksworth over Belper, Ashbourne or Matlock – it's on the up (No I don't live there).
If you need o be closer to Belper then Fritchley; as Cuckoo says, is a good choice.
Don't move to Matlock Bath under any circumstance if you want to use your car as a means of transport in the summer. Cromford isn't much better as said above.
The B5035 does get busy in Summer – particularly with bikes on their way to Matlock Bath and the whole area is a real tourist honey pot. It's a small penalty though.
Happy house hunting!