I don't want to tip on an $11 beer
I'm confused by this? Why do you not want to tip?
I hate the idea of tipping on a low-priced item
It doesn't matter if you hate tipping, you need to do this in order to support the servers. A lot of their income comes from tips and if they provided you good service then you should show that your appreciation.
I'm not a bitch, why should I tip?
People will think you're stingy if you don't. They may not want to go out to restaurants with you if they find out you don't like tipping because it'll make things awkward for them.