I have encountered this situation a few times over the years. I have some interesting stories. Every time in CT, I was legal, even though peeps wanted to give me a hard time. I accessed the rivers via public access and waded up or down, or was kayaking on a float trip on a river bank. I wouldn't worry about it too much from what you are describing. I wouldn't go camping or picnicking on someones shoreline property though...

I had a scary situation a few years ago in Tennessee in relation to this topic. Some times you can tell some peeps to screw off, sometimes you can't...

Enjoy your float trips..