Some more detail of your printing problem please. You say you "want to connect the printer". Does that mean you are trying to print a document, but the printer won't respond?
Have you used the Printer Setup Utility to install the driver? What shows on the PSU printer list?
Having just gone through the process of using a Canon MP240 with my iMac with Panther (10.3.9) I firstly had to download a driver from Canon because there was no driver for it as part of Panther. I used the PSU, the driver was installed in the OS, I rebooted the iMac, and the printer worked. However, I did notice a significant delay in printer response.