Burr Pond is definitely a place to visit in summer! There is a public beach area and water activities are endless. We hiked out to the peninsula, across from the beach, and swam there since the beach was a bit crowded. This was summer 2020, pandemic raging and my want of low crowds high.
Full disclosure, some of us may have changed in the bushes on the peninsula, in view of no one 🙂
I love a state park that allows for swimming, so nice to cool off and finish the hike. Although I don’t recommend hiking in wet clothes, we had no problem changing quickly before going back to our hike. Just remember to pack a towel!