Being an Alien on a foreing flagged vessel I would never think of criticising the innumerable departments patrolling the Hudson. I've been called on VHF, on my cell phone and boarded several times, always politely and respectful of the boat and passengers. I have vessel documents, AIS, MMSI, an up to date radio license (Canada) and a HAM radio with an operator's license. Yes, on a cruising permit we aliens must register with CBP (Customs and Border Protection) every time we change Port. It's part of visiting a country which is often the target of frustrated people or groups.
Traveling the NYSCS (New York State Canal System) if a pleasure in itself. My last two travels were from Sept 13, to Sept 18 2016 and on the way back from May 12 to May 22 May 2017. On the way back the canal opened on May 19 because of repairs and high waters and the new administration of the canal. Check the dates before you plan your trip.
Notable, or not, places to stop on the way... from west to east.
Oneida lake, if you or your admiral wants new silverware the Oneida factory is the place to shop for high quality stainless at outlet prices. Sylvan beach, free dock, tons of people in summer not too many in spring & fall, decent restaurant. Utica, just a dock at AquaVino restaurant. Little Falls, great town dock and ex-train-station converted to marina. Canal Place a must see and visit, you might come away with a treasure or two. The next decent stop is at Amsterdam, good dock, decent shower. Waterford, this is the end of the canal, Free dock, decent showers, all cruising amenities in town. Many cruisers on the way back from the Bahamas & en route to Lake Champlain or the Great Lakes stop here & congregate.
The Hudson river: Castleton-on-Hudson, there is an inexpensive crane to raise your mast... open to wakes from passing boats and no professional help. Nice little Club, friendly atmosphere. Catskill, Hop-O-Nose marina is the best known place to have your mast raised. ($4/foot of mast). We were ready at 8:15 and done at 8:45! Spent the rest of the day helping others to get ready and had dinner at the restaurant there... Good food decent price. Loew's, WMart, Pharmacy & Bank a short bike ride away. Kingston, worth the detour, boating museum and town. Night life active but not intrusive. From here there are several anchorages but often little water. Nyack is worth a stop; you'll need to take a mooring ball and call in the shuttle, the town is definitely easy walking distance. You're under the Tappan Zee and in your home waters from now...
A few warnings: there are little fuel and pumpout stations on this route, plan accordingly.