They will still cook through if you let them simmer. However, if you cook them through full boil the entire time, the skin will peel off and the beans itself will be inconsistent. I never buy canned beans.
Kidney beans (and some others) have to be cooked at full boil before continuing at a simmer. Here's an article: http://www.wikihow.com/Avoid-Food-Poisoning-from-Undercooked-Beans
Are they dried? Soak them in water at least 3x the making of beans you have for 8 hours or overnight. Then drain, add cold water, bring to a boil, reduce heat and cover for about 2 hours. You can also season the water.
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