What does it mean to be soulful beings

It means being full of soul, like Aretha Franklin, Marvin Gaye and the like.

It means being conscious of your existence as a spiritual being and being at peace with yourself and the universe.

The term is ambiguous and it's meaning changed with context.

Then of course, there's the old question of whether animals also have a soul....

In which case there will be a cat soul, dog soul etc - not forgetting the ass.

The soul is a brain function that enables humans to show empathy for others. Unfortunately some idiots think a brain function can exist when the brain is dead.