In vehicular communication systems, maximizing the number of served vehicles while simultaneously guaranteeing reliable coverage at all the vehicles can be a challenging proposition. A switched-beam based infrastructure can provide better reliability as the signal-to-interference-plus-noise ratio (SINR) can be improved. However, a simple switched-beam based vehicle-toinfrastructure (V2I) system alone may not suffice for serving all the vehicles because (i) the number of vehicle is more than the number of beam, and (ii) a vehicle may be out of the coverage region of a beam. Therefore, introducing vehicle-to-vehicle (V2V) communication becomes crucial in extending the number of served vehicles. In this paper, a joint vehicle-beam allocation (VBA) and vehicular proximity (VP) algorithms for V2I and V2V, respectively are proposed to guarantee reliable coverage for vehicles. VBA is an SINR optimization algorithm, and VP is based on LTE Mode 4, a proximity based service for V2V communications. It is shown that setting a flexible SINR threshold helps in attaining a reliable beam coverage region in switched-beam based V2I communication. It is proven that the outage probability are also directly dependent on SINR thresholds. Lastly, the concept of utility ratio is also introduced as a metric for reliability. Simulation results show that joint V2I and V2V communication significantly improves the utility ratio.