Section 404.01, Subd. 4b, states that "property owners and occupants shall make containers easily accessible to the collector for on-site pickup on the days designated for collection".
You can do this by placing your trash cans on your driveway or your lawn. Do not put your trash cans on the streets, sidewalks, or public right-of-ways.
Also see Section 801.03 and 803.01.