It is OK to eat canned food out of the can.
Canned food is ready to eat and can safely be eaten right out of the can although the canned food tastes better when heated.
Canned food is already cooked during the canning process and even the canned meats are cooked.
There have been times where I had a power outage and had to eat canned food cold right out of the can and although it was not as enjoyable as heated canned food it was still edible and safe to eat.
So if you want to eat the canned food without heating it up first you can safely do so.
I used to eat canned food right from cans when I was a kid as well but now prefer to heat it up.