Converting collision position (ray cast) into world-space UI position

So I have a world-space canvas with a UI panel (with collider).

What I’m doing is shooting ray casts at the panel, so that gives me point of impact vectors.

What I am trying to do is create a UI image at each point of collision with the panel.

My question is, how do I convert my vector3 impact world position into a position within the world-space canvas?

You should use Camera.WorldToScreenPoint which transforms a position from world space to screen space. Here is the documentation Unity - Scripting API: Camera.WorldToScreenPoint