As you are using cross-save to play your PSN characters on Steam, you need to join the clan (or create it), with your PSN account. Your Steam account has no Destiny 2 data of its own, so there’s no need to join a clan with your Steam account. Once your PSN account has joined a clan, you will then have access to the clan benefits regardless of which platform you are physically playing the game on.
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So my friends thats playing on Steam needs to create one so that I can join them?
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You can create the clan, using your PSN account. Or you can have a friend create the clan, with their main account. Clans are not platform specific. As long as you join or create the clan from the account where you character data actually resides, you’ll be fine. When you play on Steam, you’ll see the Steam members of the clan (which would include those using cross-save to play on Steam). If you logged in on a PS console, you’ll be in the same clan, and see the PSN based members.
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Clans are able to accept all platforms. Since you are using psn characters you will always join with psn characters...that does not mean your steam friends cannot join