Canned beans are fully cooked and the only thing you need to do when you have canned beans is to heat the beans up.
You can pour the canned beans into a skillet or pot on the stove and then turn the heat on to a simmer and heat the canned beans up for a few minutes.
All canned foods are fully cooked and even canned meats are all fully cooked.
All you have to do or at least should do before eating canned beans and other canned foods is heat the canned beans or other canned foods up.
You can eat the canned beans directly from the can just like you can eat other canned foods out of the can but the food tastes better and is much more enjoyable when you heat the canned beans and other canned foods up first.