Change the post meta date/time to human difference format.

beans-human-time.php

<?php

//https://community.getbeans.io/discussion/pretty-date/#post-1975
// Change the post meta date prefix.
add_filter( 'beans_post_meta_date_prefix_output', 'example_post_meta_date_prefix' );

function example_post_meta_date_prefix() {

    echo 'Posted: ';

}

// Change the post meta date/time to human difference format.
add_filter( 'beans_post_meta_date_text_output', 'example_post_meta_date_text' );

function example_post_meta_date_text() {

    echo human_time_diff( get_the_time( 'U' ) ) . ' ago';

}