Vehicle insurance in Canada comes under provincial jurisdiction. therefore the Canada/US border guards have no interest in your vehicle insurance. If you come into contact with the police in Canada, due to an accident, driving violation or any other police investigated problem, you may be asked to produce proof of insurance by producing the card.
I would therefore recommend that you have your insurance card available while driving in Canada. Here in Alberta the fine for not having one is quite substantial and not a fine I would like to get.
BTC