Annexing Canada unilaterally (essentially a conquest) would not be good; Canada should only join the US (or vice versa) through the consent of the population living there. That said, I am strongly in favor of an economic union with Canada as soon as it is politically feasible. There is absolutely no reason why there cannot be a customs union and common economic market between the two countries with complete freedom of movement (yes, I want an EU-style union between the US and Canada but without the common currency).
There are practical needs for this but also some practical opposition as well. Both countries are hard to get into from each other. My guess is that about a quarter of the population in both the US and Canada can’t go into each other. This is mainly that people don’t want each other’s “trouble makers” or even petty “pains in the asses” who have relatively recently been caught doing things though are not serious, are particularly tasteless.