The self-assembly of molecules at surfaces can be caused by a range of physical mechanisms. Assembly can be driven by intermolecular forces, or molecule-surface forces, or both; it can result in structures that are in equilibrium or that are kinetically trapped. Here we review examples of self-assembly at surfaces that have been studied within the User program of the Molecular Foundry at Lawrence Berkeley National Laboratory, focusing on a physical understanding of what causes patterns seen in experiment. Some apparently disparate systems can be described in similar physical terms, indicating that simple factors -- such as the geometry and energy scale of intermolecular binding -- are key to understanding the self-assembly of those systems.