The short answer is maybe. The longer answer is that picante sauce is generally a lot more liquid and more purée-like in consistency. The puréed, liquid-y texture of the picante sauce is necessary to getting the right texture for these beans, and making them with a chunky, drier salsa just doesn’t yield the same results. If your salsa is very liquidy (and many canned salsas are), then substituting it should be fine.