Один из способов - написать подзапросы для получения имени для каждого столбца:
select t1.id
, (select name from t2 where t2.id = t1.c1) as C1Name
, (select name from t2 where t2.id = t1.c2) as C2Name
, (select name from t2 where t2.id = t1.c3) as C3Name
from t1
Или вы можете использовать тройное соединение:
select t1.id
, t2_1.name as C1Name
, t2_2.name as C2Name
, t2_3.name as C3Name
from t1
join t2 as t2_1 on t1.c1 = t2_1.id
join t2 as t2_2 on t1.c2 = t2_2.id
join t2 as t2_3 on t1.c3 = t2_3.id