When they were dating Almanzo called her Laura, but soon they agreed that to avoid any confusion (Almanzo had a sister named Laura) he would call her Bess. Their daughter Rose called Laura Mama Bess.
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Almanzo called Laura "Bess", not Beth; he called her that on the TV show (her middle name was Elizabeth). Laura called Almanzo "Manly"; his actual nickname was Mannie and Laura mistakenly referred to him as Manly, even after he corrected her. She preferred Manly and thought Mannie sounded silly.
Because Almanzo didn't like the name Laura so he called her Beth after her middle name Elizabeth.
Almanzo called Laura "Beth" as a term of endearment and a sign of affection. It was a special nickname that he used to show his closeness and intimacy with her.