We tend to say "loved ones" rather than "beloved ones" in Br Eng. You are correct that it can refer to your whole family though - and even your friends, too; the very close ones though, not casual ones or work colleagues.
It was a small wedding; Helen wanted only her loved ones there - very close family and friends.
Peter's funeral was attended by his loved ones, of whom there were many: he had made an impact on more lives than he himself perhaps realised.
- For Teachers