Not sure if you meant like cleaning them all out with the dishes using soap/sponges/etc. Just rinsing them out is fine IMO.

But either option is better than just dumping dirty cans/bottles into your recycling pile. I had a friend who was living in a shared apartment with 3-4 other people and there was this one guy that never ever cleaned or rinsed any of his recycling. Apparently the shared kitchen area where the recycling was stored would reek and attract flies and other insects all because of that guy.