Was there any way, or set of settings allowing me to capture a better image of the two bears at 30 meters from me; maybe not?
With your current gear, it would be very difficult, if not impossible, to obtain a workable image under those circumstances.
And you are pushing the limits of how close you want to get to a bear ... or a cougar ... or most wildlife.
First rule of wildlife photography is: DON'T BE STUPID JUST TO GET WHAT MAY BE YOUR LAST SHOT.
You've had to crop heavily to pull out the two bears. The sharpness of such a crop is going to be disappointing for any image larger than, say a 4X6. Even that is going to be iffy since contrasting surfaces will not be rendered with smoothness due to the arrangement of the various pixels of the sensor. Details would be difficult to extract IMO from such a black blur of stuff.
There are several specific purpose editors out there which could be employed though now you're talking cost vs result again.
More than likely, the bears were more noticeable to you when you took the photo than they appear in the final shot.
You simply have to realize a camera lacks the perceptual dynamic range of the human eye. Extremely high contrast images are difficult to render with any modern DSLR.
Film would have done slightly better but the issue remains a difference between a captured image and the human brain's cognitive operations. You have perception on your side and time based context to recognize the situation. The camera only has fixed settings to work from.
There is a HDR function on the SL1 when shooting in Jpeg. It's not always a usable feature when shooting wildlife since it depends on taking three successive images and then blending them into one final image in the camera. Wildlife typically doesn't remain still enough, long enough for this to be a common usage feature out in the field.
HDR can also be accomplished in post production but again requires several identical shots used for blending. Since the value of HDR is achieved with multiple identical files, the best HDR results are obtained with a tripod holding the camera absolutely steady when shooting stationary subjects such as buildings. Hand held HDR's are, IMO, not really worth it due to camera shake. They are there for the once in a lifetime - not the final shot of your lifetime - moments. They can preserve a moment - your last? - but will lack overall quality.
Otherwise, this is a compromise of the SL1 to cost. Canon's several times the SL1's price DSLR's will have a greater number of focus and exposure points to select from. This would have made your shot more controllable though, as I mentioned earlier, one of the issues you will face with wildlife photography is the simple fact critters don't normally wait around holding perfectly still while you change a lens or adjust camera settings.
The more you know about your camera, the more familiar you are with adjusting the camera quickly and effectively, the better able you are to adjust quickly to the desired settings.
It's been said several times in this thread, learn your SL1 and your lens inside and out. Practice when you are sitting at home so you are ready to work when you go out.
What also gets repeated on this forum is the simple idea buying more gear is no substitute for learning photography's rules and knowing your present equipment.
The more adept you become at making on the fly adjustments, the higher your keeper rate rises.