To hoist is to raise up or lift, like a crane or forklift would. You can hoist yourself up onto the roof to get a better view, or hoist a beer to your mouth — as long as you're over 21.
You can certainly hoist a cup to your mouth to drink, but this word is generally used to describe heavier lifting, like the hoisting of a fallen tree onto the bed of a truck or hoisting the Super Bowl trophy over your head after the big game. In nautical terms, where it comes up often, hoist refers to a group of flags that are raised all at once to communicate a signal.
