Registration requirements vary by state. Rather than meet the state requirements, it would probably be easier to license it at home. With a Canadian registry, I doubt that the local water cops would show much interest.
You don't want to have it tagging along in the locks, get it aboard. We never use our dinghy in the canals, it's on the roof and our mast is down, so it stays there until the mast is raised. Never really had occasion to wish it was accessible.