The PDF above is intended for commercial operators. YOU DO NOT NEED A CDL IF YOU ARE NOT ENGAGED IN COMMERCE. You are not engaged in commerce if you are using it to drive or move your stuff.
While most state level CDL manuals are written in a way that implies you are commercial by the mere fact that you are reading it I have to give Michigan credit as they actually included comments about personal use in it. Under exemptions (on page vi) is the following:
INDIVIDUALS: Operating motor homes or other vehicles used exclusively to transport personal possessions or family members, for non-business purposes.
Most manuals just say "recreational use vehicles" which leads many CLEO's to say it must be registered as an RV to meet that exemption. The wording Michigan uses actually makes it a lot clearer about personal use. Another thing I like about the manual is it actually mentions whether an air brake endorsement (or lack of restriction) is required if you're not commercial. Under Section 5 is the following sentence:
An air brake endorsement is only required if your vehicle needs a CDL.
The reason I mention this is that there are several people here on the forums that believe the presence of air brakes require a CDL regardless of use. At least this sheds some light on the issue (as far as Michigan is concerned anyhow). It's nice to see a state take the time to make things as clear as possible in it's publications.
rneely: The one problem with the CDL manual is the legal fine print. It says at the beginning that it is not a legal document. Your best bet would be to call up the State Troopers and ask for the Commercial Law Enforcement Office and talk to a CLEO (Commercial Law Enforcement Officer). Ask them for the regulation or statute number that contains the info about CDL requirements and exemptions. Once you have that info print out the pages that show you are exempt and place those pages in a binder. Then keep that binder with you when ever you drive the truck. This way if you get stopped by a CLOE that isn't as well trained as Officer Graham above you can show them what the reg/statute says.
One other thing to watch out for is if you ever drive out of state you may run in to issues regarding IRP (International Registration Plan) and IFTA (International Fuel Tax Agreement). This is a state by state deal and if you do drive out of state you will want to talk to the state you will be driving through to see if they allow an exemption from IRP/IFTA if the vehicle is for personal use. If they say you're exempt be sure to write down who you talked to and the date and time of the call and place that info in your binder. I found out the hard way about this the first time I drove in to N.C. from Virginia and was hit with a $600 ticket.