Soils, the basis of agroecosystems, have been generated and continuously modified not only by the interaction of physical, chemical, and biological factors but also by human activities, driven by local values and knowledge. The way different peoples relate to soil thus reflects diverse ways of knowing and being, and has a major effect on food and agroecosystems. However, the policies, regulations, and programs around fundamental components of the environment have been mostly developed from a monocultural hegemonic perspective, dominated by productivist and utilitarian values, with effects particularly in pluricultural countries like Mexico. To continue living their culture, worldviews, and management practices, the human rights of indigenous, peasant, and rural communities must be guaranteed and the legal framework modified. Moreover, these communities could lead the development of the integrative, dynamic, and relational views around agroecosystems that are urgently needed. Our pluricultural and transdisciplinary team thus aimed to contribute to the understanding of worldviews, practices, and governance structures of some indigenous communities in relation to soils. We performed 23 interviews in 8 communities to which some of our team members belong (Nahua communities in Veracruz, Masewalmeh communities in the state of Puebla, and a Zapotec community in the state of Oaxaca). We also reviewed the current regulations and major policies involving soils in Mexico and identified the main contrasts with the aspects we explored during the interviews. Our work describes diverse conceptions and ways of relating with la tierrita (tlaltikpaknansi—Mother Earth—and gidlio’ vaan—living territory), rather than soils, and shows how these contrast with or are even neglected by current regulations in Mexico. From this analysis, we propose some potential routes to build true pluricultural frameworks that are needed to guarantee indigenous and peasant rights, as well as to conserve soils and agroecosystems in more just, diverse and sustainable management schemes. Finally, we reflect on our experience working as a pluricultural team essaying research from a decolonial perspective in Agroecology. Please refer to Supplementary Materials, Full text Spanish version of this article, for a full text Spanish version of this article.