Thanks for your response. Here is the correct query if it helps anyone else:
select t.company_id, t.employee_id, t.oth_hrs_cd, c.earn_desc, t.hourly_rate,t.other_hrs,t.per_end_date
from pub.tran_hst t
inner join pub.co_earn c on t.company_id = c.company_id and t.oth_hrs_cd = c.earn_type
inner...