Yes, if the city is big enough to have some other buildings you can click on them or click on the city icon on the left.  However, there are unusual cases I've seen where an allied caravan is in my city preventing me from selecting it no matter what.

Not just limited to Caravans. Any unit on any tile prevents you clicking on the tile beneath. (ex. a troop sitting on an undeveloped Shard will prevent you from developing the Shard)

Yes, it's annoying. I prefer the Civilization Revolution method where the game will pop up a small menu asking you which object on that particular tile you'd like to view. In this case, you would click on that tile and a little dialog would ask, do you want to view the city or the caravan?

Something like that.

Thank you.

Actually that's another really good suggestion. Some kind of overlay that shows you how close you are to being unable to build due to being too close to another city. I built a city a couple of days ago and could only farm the gold mine, couldn't create anything else. I wish I would have known because I would have moved it a few tiles... Ended up razing it.