If you have ships sail to a coastal town and choose coastal assault.
I believe you need to disembark, then approach the town and choose "Order Block Port" (you need to do that first). Then "Siege Warfare (Planning Siege)".
Then you get these options:
Notice you need at least 150 men. EDIT: you should expect losses, so have at least 200 troops.
The attempt to block the port can also fail, so you need to block it again.
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