In Here Be Monsters! we see everything from the third person perspective, meaning pronouns like he, she, and it, and no I or you unless we're looking at dialogue. Further, it's a limited omniscient perspective, so we mostly see things through Arthur's eyes, as he's the main character. Our narrator can't just drop into any old character's brain.
So when Arthur escapes Snatcher's men, for instance, and ends up in Willbury's home, Arthur has to evaluate the situation: "He had no idea where he was, but he did know that he felt safe" (5.17). This is more info than we'd get if we didn't have access to Arthur's thoughts and feelings, like in a more objective third person set-up.
Sometimes we also see a little bit of what's going on in Willbury's head. For example, when Willbury is sent to check out the supposedly-abandoned Cheese Hall, he approaches it "nervously" (18.1) and thinks to himself, "It's certainly not very welcoming" (18.2). But we tend to see things from Willbury's point of view mostly when Arthur's not available, so again, our scope remains pretty limited when it comes to perspectives.