For a semi-permanent installation, I have seen that the posts are typically driven just like a fence post. Pound on the post with a post pounder it until its deep enough for side-stability and firm enough to not sink any further.
Typically 1-1/2" or 2" galvonized steel pipe is used.
The pipe is positioned and slid down through special clamping brackets that are bolted to the side of a wood frame and deck. If the deck is already constructed it is easy to position the pipes by floating the wood deck in the water in the desired location and driving the pipes through the clamps. Then you lift the deck up with a come-along hooked to the top of the pipe and then tighten the clamp to hold it there.
The deck is typically built in 8 to 12' long sections. The tradeoff being how heavy and expensive each deck section is vs. how many posts need to be purchased and driven.
For neatness sake, you can trim all the posts to the same height after they are driven in and apply a plastic cap.
If a post does settle a bit, you can re-level the deck by repositioning the clamps on the pipe. Also, if the water level changes, you can ajdust the height of the deck to accomodate the desired height off the water.
Seasonal removal of the posts is the reverse process with a post-pulling slide-hammer being used to pound up on a hard pin slid through a hole drilled through the upper portion of the pipe.
Floating docks of any length would typically still require some posts to be driven to keep the dock from blowing around. These post would fit through hoops or larger pipes with an inch or so of clearance to allow the dock to float up and down, but not move too far laterally. Floating is good for large seasonal or tidal variations in water height.
Other types of dock assemblies used here in MN would be free-standing steel or aluminum structures, perhaps with some wheels on the legs to facilitate easy seasonal installation and removal. A small tractor comes in handy to install and remove these.
As far as bulding forms for concrete and pumping out the water, I am not sure you need to pump out the water. Build the forms in the water. When you pour in the concrete, it will sink to the bottom and the water will float out over the top of the form. Mix the concrete fairly stiff as some dillution will occur, but it will mostly stay together. The top surface above the water will not be dilluted and you should be able to finish/seal it nicely without losing all the cream.