The answer is a bit hidden in the book and in addition, Wikipedia is not very clear about it: In the interlude A (p. 97), it is written
> A pro-$p$ group $G$ is of finite rank iff. $G$ is isomorphic to a closed subgroup of $GL_n(\Bbb Z_p)$ for some $n$.
Also, it holds
> A pro-$p$-group $G$ is of finite rank iff. $G$ is a $p$-adic analytic group.
Hence we can deduce:
> A pro-$p$-group $G$ is $p$-adic analytic iff. $G$ is isomorphic to a closed subgroup of $GL_n(\Bbb Z_p)$ for some $n$.