"Tomar" has all three meanings, but in different contexts:
- Nunca he tomado una buena decisión en la vida.
I've never made a good decision in life.
- No tomes la decisión ahora.
Don't make that decision now.
- ¿Ya tomaron la decisión?
Have they made the decision yet?
- Nos tomamos una cerveza en la playa.
We drank a beer on the beach.
- Tómate una copa conmigo.
Have a drink with me.
- Nadie se tomó el agua.
Nobody drank the water.
- Toma tu libro y vámonos.
Take your book and let's go.
- Los alumnos van a tomar notas.
The students will take some notes.
- Yo no tomé nada de tu bolsa.
I didn't take anything from your purse.