Wasps drink beside the bees at my place too. I don’t think it’s anything to worry about, I’ve never noticed any fighting, and I’m sure bees know how to deal with wasps.
Buy a fish net from a pet supplier into tropical fish and you may be able to catch them and squash the nasties. Wasps won’t enter a hive when there is good pickings at the entrance. Bees are a food source for the wasp young and though they don’t take many bees if the wasp numbers increase they could become a problem. I have SHB traps in low tree branches about my apiary but never found a wasp in them but they sure do catch SHB. Wasps usually win against a bee.
Cheers
Those wasp/fly traps from Bunnings are good if the numbers get up. I always have a few hanging around but they seem to be cleaning up the bodies chucked out the front of the hives.