On a play like that, a very good QB usually makes a better throw. Nobody's perfect, though, so let's cut Josh some slack.
If he makes an imperfect throw - catchable but not well-placed - then a very good receiver usually makes the catch anyway. Again, nobody's perfect, so let's cut Beasley some slack.
Sometimes a less-than-optimal throw happens on the same play as an imperfect catch. That was one of those plays.