What model Canon?
Have you checked preferences to make sure it is listed?
Did you try software update with Canon on and connected?
Scanning is no different on 10.9 than 10.8 its the drivers for the printers that are different and that is up to the mfg.'s sometimes you have to go to their site and download them.
Also some have dropped driver support depending on how old the printer/scanner is.
AirPrint is the ability to talk to your iPhone/iPad without third party software to print from each device quickly.
When you go to system preferences on your Mac under printers & scanners does it list the Cannon under both print and scan not your menu on the Cannon Printer.