I feel like I should know the answer to this by now, and/or that it should have been asked here, but I can't find it.
I was recently looking at some example sentences (I think linked from another question here, which I also can't find now), which talked about different uses of 'pensar':
Pienso ir a la playa → I'm thinking of going to the beach.
That makes perfect sense to me, and that's how I would translate the sentence to English. But when translating from English to Spanish, my natural inclination is rather:
Pienso en ir a la playa.
This made me realize I don't know the difference.
Can someone enlighten me? Are both correct? Do they have different meanings or connotations?