Various beverage preparation systems, beverage pods, and beverage preparation machines are described. In some embodiments, a beverage pod for the preparation of a single serving of a beverage includes a body portion containing whole coffee beans. The pod can include a movable grinding element positioned in the body portion. The movable grinding element can be configured to move relative to the body portion and to grind the coffee beans into coffee grounds inside the beverage pod. The pod can include an inlet configured to receive an introduction of liquid. The liquid can mix with the coffee grounds to prepare the beverage inside the pod. The beverage can be dispensed through an outlet, such as directly to a cup.