What is the proper method for opening a twist-off beer cap?

The correct method for opening a twist-off beer cap is to twist it off by hand. Twist-off caps are specifically designed to be easily removed without the need for additional tools such as a bottle opener. The design includes grooves that allow the cap to be unscrewed by applying a gentle twisting force, making it convenient for consumers.

Using a bottle opener is unnecessary for twist-off caps as they do not have a pry-off mechanism. While using a cloth for grip may help in certain situations, it's generally not required since the caps are designed for hand removal. Heating the cap before twisting is not necessary and could create safety issues, such as excessive pressure buildup or burns. Therefore, simply twisting the cap off by hand is the most straightforward and effective approach.