Ok, I've done these a few times.
You can use anchor cement which pours like batter and settles in the can nicely. However, it dries fast so, you will want to mix enough to do 3-4 cans at a time. Also, keep in mind it gets pretty hot so be aware of that.
If you want to use standard concrete which is cheaper and cures slower. Then I use a pair of needle nose pliers to open the can. Simply grasp the can opening (mouth) on the edge and gently pry up. The aluminum will tear real easy along the seam and you just keep going around the top of the can to open it. It will leave a jagged edge but, that will be covered with concrete when filled. Once you fill the cans then, tap the can on the ground a couple of time to help it settle.
I have tried a few different types of can openers in the past and they just keep messing up the can and doesn't seem worth the hassle.