To me, QR codes are fine, and actually have a lot of good uses, what is the problem is camera software parsing them.
I use a program called binary eye on android, it decodes the whole QR code and displays its value before attempting to do anything. I was this was the standard action.
Most of what I use QR codes for is copying text to my phone from a computer, especially wifi networks, since there's already a QR format for that.
You could have a special symbol, indicating the presence of a url, special typeface etc., to make everything work even better.
The problem isn't URLs, it's misuse of QR codes where just showing a URL would be no more useful.
My feeling is no from my family and my friends view.
So a url will still something like a cryptic qr code.