Accurate mass and radius measurements of small transiting exoplanets are essential for probing their compositions, formation histories, and potential habitability. We present a uniform analysis of six planetary systems (each hosting at least one small transiting planet): K2-79, K2-106, K2-111, K2-222, K2-263, and TOI-1634. Our study combines new CHEOPS transit observations with archival photometry from K2, TESS, and ground-based facilities, alongside new and archival radial velocity data from HARPS-N, HIRES, ESPRESSO, and others. For each system, we perform joint transit and RV modelling, achieving typical precisions better than 15 per cent and 5 per cent for mass and radius, respectively, and thus enabling precise bulk density determinations. These reveal a range of compositions, including rocky planets near the radius valley (e.g. K2-106 b, TOI-1634 b), intermediate-density planets requiring steam-rich or mixed volatile envelopes (e.g. K2-111 b, K2-263 b), and low-density regimes, consistent with gas dwarfs or water-worlds (e.g. K2-79 b, K2-222 b). Several systems show evidence of additional companions detectable via RVs but not seen in transit. The results highlight the value of coordinated CHEOPS and HARPS-N observations in delivering some of the most precise bulk densities for small planets to date and support the preparation for future atmospheric characterization missions.