In 1986 and 1988, the US Navy sent warships into Soviet Crimean Sea territorial waters as exercises of innocent passage (which essentially means that you can sail through an unfriendly nation's waters as long as you keep moving and don't do anything provocative, with the UNCLOS defining those provocative behaviors). The US Navy sailed through without stopping or doing anything provocative.
Naturally, the Soviets were not pleased, since they had tried to assert limits of which parts of their waters that innocent passage was allowed.
Did the Soviets (or, later, Russians) try anything similar in US territorial waters?