Accordions are a screen function, not related to the Print function, so your criticism is not really related to this particular plugin. The only way I know to adjust print output, differing from the screen, is to use a print style sheet. Maybe it’s possible to do some advanced Javascript/CSS tricks for your concern, but that would be a different plugin to handle those options, as this is simply a collection of handy styling functions taken from the developer’s theme work.
Still, it’s possible to print all content of a web page at one time with this shortcode setting, so that a user may open all toggle items simultaneously:
[accordion multiopen="true"]
Maybe that’s not “ideal,” but remember that simple free free plugins like this one are generic, and you always have the right to change the code to meet your needs.