Being a root vegetable Beets have an earthy taste to them, which is probably why most people much prefer them pickled. Also, you can't compared commercial canned beets with home cooked ones. I also prefer to roast-cook them (wrapped individually in aluminum foil) instead of boiling so that much of the juice and flavor is retained.
Here is a refrigerator version for small quantities not enough to can:
Pickled Beets (Refrigerator)
1 1/2 pounds fresh beets -- small size
1 1/2 cups white vinegar -- or apple cider vinegar
1/2 cup water
1 cup brown sugar
1 tablespoon pickling spice -- optional
Cook beets in salted water until just tender. Peel beets and slice or cut in pieces. Pack into hot sterilized jars. Combine vinegar, water and sugar; bring to boil and simmer 5 minutes. Mixed pickling spice tied in cheesecloth bag may be simmered with syrup. Pour hot liquid over beets to cover completely. Seal.
Yield: 2 pints
Here is the NCHFP canning recipe link:
National Center for Home Food Preservation | How Do I? Pickle
and here is a recipe I use regularly except I roast the beets instead of boiling, as I said:
4 pounds beets -- more or less
2 Cups Sugar
2 Cups Water
2 Cups White Vinegar
1 Tablespoon Cinnamon
1 Teaspoon Ground Cloves
1 Teaspoon Allspice
1/2 Teaspoon Salt
Trim beets, leaving 1" of stem and tap root attached. Place beets in a large saucepan, cover with water and bring to a boil over high heat. Reduce heat, cover, and simmer for 25-40 minutes or more, until tender (tip of knife should insert easily).
Drain and rinse under cold water. Remove skins and cut beets into slices or serving-size pieces. Small ones can be left whole.
Combine remaining ingredients in large saucepan; bring to a boil over high heat, stirring occasionally.
Remove hot jars from canner. Add beets to slightly less than 1/2" headspace. Fill jars to 1/2" headspace with vinegar mixture.
Wipe jar lip clean; place 2-piece lids on jar finger-tight, and place in canner on rack.
Process in Boiling Water Canner for 30 minutes for Pints; 35 minutes for Quarts.
Yield: 8 pints