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The difference between perfective and imperfective is constant, and upheld in any and every case.

Я хочу пить/выпить

The difference depends on what/how you want to drink; and both a viable...

I think that is why по- is so often used as the perfective-adding prefix - its meaning already is shortness.
In that sense, попить might be the more natural counterpart, and выпить is merely the...

https://www.youtube.com/watch?v=X0LyvD9lkL8

Every verb concept comes with a pair of words.
One of them is Imperfective, the other Perfective

Пить is the imperfective verb for "to drink"...