We just got back from a month in Colorado -- our first visit -- we can't wait to go back. Feel free to click on my blog link in my signature -- lots of pictures and also descriptions of campgrounds. I'm hoping that the blog entries will give you some ideas on which areas to visit.
If you are coming from SW Missouri and you only have a week for this trip, maybe focus just on Rocky Mtn National Park, which I think is the closest area to you -- it looks like it is 750 miles from Joplin to Estes Park, which is two long days for most folks. Estes Park and RMNP are kind of crowded and busy, compared to the southwestern part of Colorado, but it is really spectacular. And when I say you only have a week "for this trip," I would bet that you will be back for other trips. We surely will.
One more thought -- kayaking is great fun, but Colorado is infamous for lightning in the afternoons. So just be sure to be off the lake before the daily storm hits!