How to take care of this driving without insurance citation in court will differ depending upon state laws and the specific jurisdiction court's procedures.
In general though you can usually call the clerk of the court listed on your citation and tell them that you have a ticket for driving without insurance (with insufficient insurance) but had insurance on the vehicle and now have proof to show the court.
Depending upon court procedures you may need to show this to the judge on your court date. Or many times you can bring in your insurance card and document from your insurance company verifying your insurance was in effect at the time of your citation before your court date and show these items to an officer of the court to get the citation dismissed. There may still be court fees to be paid, the court will tell you if there are and how much they will be.
Most states require that proof of auto insurance be shown if you are stopped for a traffic violation or have been in an accident and thus needs to be with the insured vehicle at all times.