Other forms: thirsting; thirsted; thirsts
Thirst is the sensation of needing or wanting to drink something. Use the same word whether you're talking about your thirst for lemonade on a hot day or the dire thirst of someone lost in a desert without water.
At its most serious, thirst can be compared to starvation: "The water shortage is leading to extreme thirst in the poorest parts of the country." You can also use this word for a much milder need, like your cousin's seemingly endless thirst for root beer. Figuratively, to thirst for something is to desire it strongly: "Her thirst for knowledge means she stays up late reading the encyclopedia."