The North American rivals will be joined in Group B by Martinique and one of Haiti, Saint Vincent and the Grenadines, Bermuda, or Barbados, who are competing in the preliminary round.
Mexico is in Group A with El Salvador, Curacao, and the winner of the third preliminary qualifier.
The tournament's invited guest, 2022 World Cup host Qatar, is in Group D alongside Honduras, Panama, and Grenada.
The 16-team tournament will kick off on July 10, 2021, with the final being played on Aug. 1, 2021.
Group A: Mexico, El Salvador, Curacao, Preliminary Qualifier No. 3
Group B: USA, Canada, Martinique, Preliminary Qualifier No. 1
Group C: Costa Rica, Jamaica, Suriname, Preliminary Qualifier No. 2
Group D: Honduras, Panama, Grenada, Qatar
The preliminary round will take place from July 2 to 6 to determine the final three spots in the tournament.
Mexico is the reigning Gold Cup champion and the tournament's most successful team with eight titles.