You don't need to soak lentils at all. Also pinto beans you can just cook, takes a couple hours but it's not dramatically shortened by soaking. Kidney and black beans benefit from soaking and chick peas.. those muthafuckers need to be pressure cooked or something.
Just put the beans in a pot with water the night before. Whenever you want to cook them the next day or evening they will be fine.
Once cooked you can keep them in your fridge in the water they cooked in for about 5 days. I find they last a lot longer in the water than drained. You can also freeze them, very useful to just grab a cup of frozen cooked beans out of the freezer and toss them into a soup. So that might be a good solution for you, make a huge pot and portion them into freezer bags.