Somebody made this pretty amazing interactive tool called the "Guitar Dashboard" which visualizes keys, scales/modes, intervals, chords, in terms of just notes as well as in terms of frets on a fretboard.
http://guitardashboard.com/
Watch the lengthy intro video to get a better understanding of the depth of options available here. I'm still personally working on finding a way of understanding the modes that clicks with me and I think the visual aspect of this has been helpful. I'm thinking I may have more luck if I try to remember how each mode differs from a major scale, versus other things I've tried.
Anyway, I thought this was super cool and thought folks might find it useful.