Beyonce is not quite there yet. She needs to put out a few more albums that are of exceptional quality and that are timeless. She also needs to do something different and that stands out more against her peers musically, first to really be seen as an icon or legend. An icon/ legend is a BIG title. It's not something that you just throw around. She has to contribute something much more to the music industry. In addition, she doesn't have near the amount of influence that legends and icons have. AT THE MOMENT, she is definitely a very memorable singer and performer.

tl;dr She still has a ways to go, but is definitely on her way.