I have the same printer, and get excellent results from it. You have two choices; you can either allow Lightroom to manage the color, or you can let the printer manage the color. You don't want both the printer and Lightroom managing the color. If that happens you get bad colors.
To allow Lightroom to manage the color you need to go into the page setup, which opens your printer driver and you need to turn off color management. You also need to set the paper size and paper type based on the profile you are using. There are usually instructions packaged with paper indicating what settings you should choose. After you have set everything appropriately in the printer driver you need to select the appropriate paper profile from the list available to you in Lightroom.
To allow the printer to manage the color, you choose that option in Lightroom. Then in the page setup you need to choose the paper type as well as the exact paper profile that you will be using.
Thanks for the instructions, but I am not sure I understand how to let lightroom manage the colors - how do I open the printer driver? is this when I hit the Printer, and then get the menu from the canon printer?
You access the printer driver through the page setup button in the lower left-hand corner of the print module.