Self-cooked chickpeas not as good as canned?
I have made chickpeas 2x recently and I was happy with them.  What I did:

1:  Rinse and then short soak - maybe 1 hour.  

2:  Long cook, covered - more like 12 hours.  Chickpeas are little beasts.  They can take it.

3:  Salted cooking water, enough to cover chickpeas and not extra.  I think cooking in salty water gets the salt thru and thru the bean.  I topped up with extra water once during long cook (I got up at night to check them).  There was only a little water left when I was done and I kept it.  It sort of became jellyish presumably with broken down chickpea.  It was good. If you do that, salt your water to taste.

I would be nervous about scorching the bottom if cooking 12 hours on a stove top.  Try a slow cooker or a dutch oven inside the oven set to bake, as low as it will go.  Mine was actually in a foil tray covered with foil (1st time) and a dutch oven (second time) on my 2 burner gas grill with the peas over the cold burner and the other burner set to low.  Didn't want to heat up the house.  

If you try, post how it turns out in the comments.