Dandelion is very bitter. They contain substances called sesquiterpenes that are a part of the milky sap inside them, which are extremely bitter.
I would suggest going with
purple deadnettle, henbits, and white clovers, and cut back hard on the dandelion. I just happened to cook what was available. Those three are basically not bitter at all, and the first two cook down into something that tastes a fair bit like spinach. (the henbit is rather coarse though, and needs very aggressive boiling to break down the cell walls enough for them to have an acceptable mouth-feel.)
An alternative would be to cook the dandelions in several changes of water, to cook the bitter compounds out.
But-- basically--
Gather your fresh picked greens, wash, and verify plant identities.
Place into a large stock pot. (Need approx 4-6 cups of fresh, washed greens)
Add water to just beneath covering.
Add salt, garlic and black pepper to taste.
Cook for a protracted amount of time, (Henbit is hard to get cooked enough to have an enjoyable mouthfeel.) with the lid on the pot.
Once the greens have reached appropriate cooked-ness, add pasta noodles.
Continue with pot lid on, until pasta is al-dente.
Add about half a cup of rolled oats. (Would actually suggest barley pearls, but I did not have those.)
Mix together about 2 cups of cold milk and 4 tablespoons of flour, and mix completely. Add it to the stockpot.
Cook until thickened.
Add 1 can of black beans.
Add about 1/3 cup olive oil, and stir vigorously.
It looks rather unpleasant, but tastes OK. (again, I would go easy on the dandelion, and go with the deadnettles instead if you have them available.)