Not really, but if you were to feed them to anything including yourself they would have to be soaked until sprouting.
This doesnt include the red kidney beans, they're the exception sprouting won't remove enough. :)
Dry lentils are safe, cooked beans are safe.
The problem lies with dry red kidney beans, they're not safe so a haze of "no beans EVER!" got born.
All beans/legumes are slightly toxic, soaking removes it. Kidney beans are more so. Flat legumes like lentils have a miniscule amount and so are...