Does your state have any intrastate authority requirements? More than half of the states require registration with the state public utilities commission or similar agency before hauling property for hire within a state, especially if it is the state your company is based in.
Are you sure you are engaging in only intrastate commerce? Just because the truck doesn't leave the state doesn't always mean the load is not a Federally regulated interstate load that requires motor carrier authority (MC number). Read the definition of interstate commerce.
Are the commodities you plan to haul exempt commodities? If so then you may be fine.
Are you planning to haul household goods? Every state regulates these and requires proof of insurance and other registration requirements.