The thing to remember if you're ever in a pinch and need to warm a canister is that the canister should never be hot to the touch. Pay constant enough attention to the canister, and pretty much any work around can be used.
I think that playing it safe is always a good idea. Having said that, just bear in mind that those canisters are designed to be safe at very high temperatures, as I recall, approaching 200 (F) not that I am suggesting anyone try to stray into the safety margins. Too hot to touch is good advice for a working limit.