Assume that there is polytime algorithm that given $C(\vec{x}) \in F(\vec{x})$ and $\vec{a}$ computed the result of the multi-linearization of $C$ on $\vec{a}$. (w.l.o.g. I will assume that the output $\vec{b}$ will be a vector of $p$-bit binary numbers $b_i$ is $k$ iff the $b_{i,k}$ is one.)
Since $P \subseteq P/poly$, there is a polysize boolean circuit that given the encoding of the arithmetic circuit and the values for the variables computes the multi-linearization of the arithmetic circuit on the inputs. Let call this circuit $M$.
Let $C$ be an arbitrary arithmetic circuit. Fix the variables of the boolean circuit $M$ which describe the arithmetic circuit, so we have a boolean circuit computing the multi-linearization of $C$ on given inputs.
We can turn this circuit into an arithmetic circuit over $F_p$ by noting that $x^{p-1}$ is $1$ for all values but $0$ so first raise all inputs to the power $p-1$. Replace each $f \land g$ gate by multiplication $f.g$, each $f \lor g$ gate by $f+g-f.g$ and each $\lnot f$ gate by $1-f$.
By the assumption we made above about the format of the output, we can turn the output from binary to values over $F_p$. Take the output for $b_i$ and combine them to get $\sum_{0 \leq k \leq p-1}{kb_{i,k}}$.
We can also convert the input given as values over $F_p$ to binary form since there are polynomials passing through any finite number of points. E.g. if we are working in $\bmod 3$, consider the polynomials $2x(x+1)$ and $2x(x+2)$ which give the first and the second bits of the input $x \in F_3$.
Combining these we have an arithmetic circuit over $F_p$ computing the multi-linearization of $C$ with size polynomail in the size of $C$.