If you have steep banks where you frequently land, set a deadman anchor back from shore and dangle a thick rope from it down to the water. When you wish to land at that spot, clip the boat to the rope so that it will not drift away once you are out, use the rope to help you climb up the bank the way Batman and Robin climb buildings, and then haul the boat up with the rope. If the boat is heavy, read up on pig rigs and high angle rescue (which is something you will need to learn if you get into white water paddling).