Hey Amanda!
You need to specify which state you want. Take a look at the example below, it is from the Getting started with censusapi. After specifying that you want county level data, you need to add regionin = "state:1,2" to identify the state. In this example 1 and 2 refer to Alabama and Alaska.
sahie_counties <- getCensus(name = "timeseries/healthins/sahie",
vars = c("NAME", "IPRCAT", "IPR_DESC", "PCTUI_PT"),
region = "county:*", regionin = "state:1,2", time = 2015)
head(sahie_counties, n=12L)