I'll second Endless Legend as speculative fiction version of Civ. I've got that as well, although only really played about an hour of it. Just did the tutorial with my son before he got bored and wanted to move on. My first impression was that it was pretty complex and will take some time to learn. But yes, it's basically civ in a fantasy world.
As for beyond earth. I have played a bit, though not heaps. The thing is, these games only work on the wife's laptop
I've enjoyed it, but it doesn't quite scratch the nostalgia itch from the original, since it's so different. That's okay. You won't have that nostalgia for the original civ anyway.
Beyond Earth does a good job of transposing the civ experience into a sci-fi narrative. The nations of Earth are colonising an alien world (and yes, there are aliens. Mostly animal-based so far, it seems). The really interesting aspect is that this isn't earth. The ecology of the planet is different. There is a miasma fog that is harmful to humans but necessary for the indigenous life. (so if you clear it, you're less likely to have your city attacked by giant alien scorpions.)
You get to choose the direction you take your people. Try to tame the world to be more hospitable for humans, or genetically modify your people to become more alien. This serves as a point of conflict in the game, with other civilisations. If you start clearing away the miasma, you may face trade sanctions or even war from other more 'ecologically minded' nations, who feel that we shouldn't be terraforming the world to be more compatible with us, we shoud adapt to be more compatible with the planet. It's really quite interesting stuff.
The visuals seem quite dark compared to previous civ games. It's an alien world, so it should it different, but I gotta admit, I'd like to see a little green occasionally.
One criticism I've heard of the game (which applies to Endless legend as well) is that the spec settings makes it harder to play. Everyone knows what coal and iron are, and why you'd want them. But what are Kryton Crystals, or Bovellium? Why would care to have them? Personally, I think this adds to the sci-fi mystery. Your characters are on an alien world. They're not SUPPOSED to know what all this stuff is at first, so the uncertainty adds to the immersiveness of the experience.
Though I'll admit, I find the tech tree overwhelming and not sure what to research.