Concentrate on better "take-offs" and you'll have softer landings.
Tell me this, do you think maybe you're concentrating on "landing the skill" so much that you're forgetting to elevate the best you can. Put another way.... if all of your mental energy is on the beam (landing), won't your physical energy also be directed to the beam instead of above it.
Try some of this on a floor line. I bet you can get soft landings there, so why not the beam. Try doing these skills on a floor line....don't even look at the line at all after you've taken off, not even when you're landing. Just concentrate on take off technique and direction as you leave the beam, and the skill's movents while you're in the air, then land softly. Look at the line after you land.......it'll be right there under your feet. If it isn't....work on the take-off, adjust it so it goes straight over "the top" and places you properly over the beam/line.