In order to enjoy your camping you have to pack your bike to the nuts with all the things you may need to make life comfortable. Saddlebags, trunk, and a tank bag can accomodate a lot of your stuff, plus you can pile more on top if need be. Thats where a good supply of bungee cords or cargo netting strap comes in handy.
When planning for motorcycle camping, smaller is better and most camping outlet stores have smaller items that are perfect for motorcycle camping. One burner stove, small lantern, folding fry pan, pots with folding handles, paper plates and plastic cutlery will all do the job for you. Think small and buy accordingly and you can pack everything you need.
I even manage to carry a fold up camping chair with me, because one my pet peeves is that when you arrive at the campsight the only place to sit is on the ground or at the picnic table.