''Dry'' means ''to make/get something dry - to remove wetness.'' You usually ''dry'' something after ''having washed something or gotten something wet.''
*You can also use ''wipe up'' or ''wipe off''
For example:
1) ''Hey, I'm busy here drying off my hands! Could you please answer the phone for me?''
2) ''Oh, come on! This hair of yours is too wet! Just pick up a towel and dry it up''
2) ''Here is a towel so you can dry yourself off when you get out of the pool!''
In your example, you could say: ''it doesn't matter. It will dry.''' (this sounds better)
As for ''Wipe'', it just means ''to subject to light rubbing or friction, as with a cloth or paper, in order to clean or dry something'' When someone wipes something, he/she just removes dirt or liquid from some place (in your case, ''from the table'').
*You can also use ''wipe up'' or ''wipe off''
Here are some examples for you:
1) ''I wiped my feet before I went inside''
2) ''Yesterday, my mom just spilled a large amount of coffee on the floor! It got all sticky, so I had to wipe it up!''
3) ''I tried to wipe the water off the table, but there was so much that I gave up!''
In your example, you might say: ''Oh don't worry! I'll wipe it off.''
Hope that helps!