Two years ago, I had my terrace built, and now I’ve noticed that the joints are quite soft. As you can see in the picture, I can easily work into the joints with a putty knife using only light pressure.
Shouldn't these be hard as stone, or what do you think?
That depends on what was ordered. For patios, it is common to include a joint that allows water drainage to prevent water accumulation. So, unless you specifically ordered an epoxy joint or something similar, this should be fine.