........I want to use this exact shade of blue in photoshop, and to have it be the exact same shade of blue as my sample when I print it......
Good luck with that
!. You are unlikely to get an exact match as you will be printing with different inks, to that used on the coloured paper, and on a different paper.
However to get close :
1. You need to measure the colour. I use an i1pro spectrophotometer with i1Share (as downloaded it does not run on 64-bit systems but by swapping the EyeOne.dll from the diagnostics app it will run).
If that kind of equipment is not available to you, then using a camera with some known colours such as a calibration chart or colour checker is your next best thing.
2. To view the colour on screen you need a calibrated and profiled monitor, which D.Fosse has covered above, - however you are now viewing a source that emits light instead of reflecting it - so it will not be exact.
3. You need to use the correct profile for your printer and paper combination. I do use profiles which I make myself - however as D.Fosse said, the manufacturer profiles are quite good these days particularly for paper sold by the printer manufacturer.
Even with all three in place it will depend on the actual colour. Not every colour can be reproduced in every colour space. So a colour that can be made with the RGB colours may not be possible when printed with CMYK inks.
So you can get close - but chasing exact will have you running in circles.
Dave