He does talk about going to Cuba by boat, but only for two pages, and what he says is that if you do, you run the risk of a $250,000 fine and ten years in jail. That does not jive with what I hear from other sources.
In his lecture he did address the lack of other books
on the subject of travel to Cuba published in the USA, and the problems he had finding a publisher.
It is my understanding that boats owned by US citizens regularly visit Cuba and manage to avoid hassles, and I would be interested in hearing from people who have advise on how to do this.