Depends on what "limited" might mean...
But USGG Aux and the US Power Squadrons both offer basic introductory courses, and then there are also schools (e.g., Annapolis School of Seamanship, etc.) that offer more specialized courses.
Some of those also offer courses intended to train you toward a USCG entry-level license, but that's not really necessary.. and you don't qualify for one of those anyway until you have significant sea time under your belt.
You can also hire a teaching Captain, and many find that useful for initial hands-on training, especially in close-quarters maneuvering (like docking).
And you can talk to your dock buds, go with them sometimes, discuss, watch and learn... although sometimes that's learning what NOT to do
Your other part.. is then to use what you learn: practice. Do it.
-Chris