Or, put a sheet metal screw through the shelf from the bottom.

Make the pilot hole in the can.

Screw the can down over the sheet metal screw. Most likely friction
with the wood will keep it from turning. But if not, hold it with a
screwdriver. The advantage of this method is easy removal.

But that's not how I'd do it.

I'd use a hot glue gun. Put a quick dab of glue on the shelf, stick
the can down, done. Secure, but easily removable.