When beers in cans or bottles are banged together in rejoice of the company you're with, what is the action called?
They clinked their bottles. From thefreedictionary:
clink - make a high sound typical of glass; "champagne glasses clinked to make a toast"
Less commonly, they chinked bottles. All variants are often followed by the word together.
Because cans don't really make quite the same sound, I might say clunked or clonked or clanked instead if cans were involved. Those vowels suggest a somewhat lower note when struck together.
EDIT: clanked borrowed from @cynthia-hartwig's deleted answer. Can't think of everything!