I live in Brookfield - within walking distance to Echo Bay Marina and Down the Hatch. I've walked home many a nights from Down the Hatch
Candlewood Lake is surrounded by 5 towns - Brookfield, Danbury, New Fairfield, Sherman and New Milford. All 5 towns have nice town launches, it costs residents about $150 per season - towns issue decals for the boat and trailer - if you use a launch and don't have that decal on your trailer - it's a ticket. You can't get a season pass without residence.
There is a public launch in Danbury - it's the only public launch on the lake. It's gets ridiculously super busy. It's free to launch and free to park - but that will be changing real soon as the lake is being overrun with out of towners - especially from NY.
Other than that - you have to rent a slip at 1 of the many marinas, or if you look at Craiglist - some waterfront homes rent slips as well.