I can’t hear any beep noises from BB-8 in the scene you describe mate - on the cam version or the bluray (31m, 48s). That’s not to say they are not there - but just I can’t hear any…
BB-8 does however makes beep noises in the scene you describe on the official teaser trailer, here:-
https://www.youtube.com/watch?v=erLk59H86ww (about 28 seconds in)