Publishing as a Widget
Guide to publishing MailChimp WD form as a WordPress widget
MailChimp WordPress plugin also lets you place your MailChimp form on any widget area that your website theme provides. Navigate to Appearance > Widgets panel and start configuring your MailChimp widget.
Search for MailChimp WD from the left side of this page, then drag it to the widget area where you need to have the form. Write a Title for the widget and use Select a form dropdown menu to choose your MailChimp form. Make sure to hit Save after you finish.