Although of course we need canned goods for emergency preparedness, one way to at least avoid wasting the actual food past its expiration date and also pushing off the recycling to someone else :) in the easiest way possible is by taking advantage of Stamp Out Hunger. Stamp Out Hunger is one day a year when your mailman will pick up any cans of food you leave by your mailbox and donate them to food banks. This year it's Saturday, May 14th. Emergency food cans are perfect for this as they are generally heartier food than most canned foods.
So just check the expiration dates on your cans in your emergency stash and anything that will expire this year you can put out that Saturday. And anything close to expiring you can use up yourself--that way your emergency food is always edible.
And yes, passing your trash along to someone else isn't exactly zero waste, but you have to have those cans and it's a very friendly way of getting rid of them.