In a non-stick skillet over medium heat, lightly warm the Canadian bacon for 1–2 minutes on each side until heated through. Set aside. Split the whole-grain English muffins and toast them until lightly browned.
Fill a medium saucepan with water and bring it to a gentle simmer. Add the vinegar. Crack each egg into a small bowl and gently slide it into the simmering water.
Poach for about 3–4 minutes for a runny yolk (or longer for firmer yolks). Remove the eggs with a slotted spoon and drain on paper towels.
In a heatproof bowl, whisk together the egg yolks, Greek yogurt, lemon juice, Dijon mustard, cayenne pepper, and a pinch of salt.
Place the bowl over a pot of simmering water and whisk continuously for 3–5 minutes until the sauce thickens slightly. Avoid overheating to prevent scrambling the eggs.
On each toasted muffin half, layer one slice of Canadian bacon. Add arugula on top. Place a poached egg over the arugula. Drizzle the warm light hollandaise sauce over the eggs. Season with additional salt and pepper, if desired.