You gave the example of using canvas from a web worker. Unfortunately, the whole web platform is built on the assumption of a single-threaded execution pipeline. Web workers get around this by using postMessage and not having access to the DOM, shared variables, and other stateful parts of the platform. Canvas and WebGl as spec'd and implemented are tied to these stateful parts of the platform (DOM, etc.), which is why you cannot use them from a worker.
So, your desired change would involve either a major overhaul of the web as spec'd and implemented, or a change to the Canvas and WebGL standards. The first is probably not going to happen. The second is achievable and implementable, but wouldn't help address the use cases I described in my first sentence.
It requires no more engineering effort than it took to implement the corresponding code in the PPAPI, and probably a lot less. Moreover, non-NaCl and non-plugin code could benefit from it.