Thankfully I think demand will have to grow a lot for legumes to rise in price much since legumes are basically a byproduct required for growing other more valuable crops.
It's great that beans look kind of gross because otherwise people would learn they taste really good and are healthy at the same time.
I think the problem with beans is not looking gross, it's that they cause you to contribute a lot of methane to climate warming (you fart a lot).
Taste is very individual. I personally can't stand the taste of dry beans, to the point where I have a strong aversion just to the texture itself. Fresh green beans can be fine (usually has a sweet or acidic taste), and beans used in Asian food like glass noodles or soy source don't taste like beans at all to me.
When people talk about eating more beans, or when people talk about using it as an ingredient, it usually only mean dry beans.