System>Preferences>Personal>Startup Applications (Check Print Queue Applet)
I am not sure if hidden has to be marked or not. I would then log out and back in and see if it works when you print.
It doesn't seem like anyone has a solution for you. I am not sure this is what you want either, but it works. I was able to go to the Control Center, drag and drop the printer icon to the desktop and from there drag and drop it to the panel. Then you can delete it from the desktop.
It will always be on the panel like that because it is the icon not the applet, not just when printing but would give you quick access to cancel a print job.
I don't use printers in Ubuntu MATE but, apparently, from there, you can go to the "Printer" menu and select the last command / option ("View Print Queue") or press the keyboard shortcut combination Ctrl + F as I show in the following screenshot: