* Clean (most common)
* To clean (verb)
* Wipe (specifically for cleaning surfaces)
* Clear (when referring to clearing something away)
* Scrub (when referring to cleaning something vigorously)
The best translation depends on the context.
For example:
* "Limpiar la casa" could be translated as "Clean the house".
* "Limpiar el polvo" could be translated as "Wipe the dust".
* "Limpiar la mesa" could be translated as "Clear the table".
* "Limpiar el baño" could be translated as "Scrub the bathroom".