We prove that quadratic pair interactions for functions defined on planar Poisson clouds and taking into account pairs of sites of distance up to a certain (large-enough) threshold can be almost surely approximated by the multiple of the Dirichlet energy by a deterministic constant. This is achieved by scaling the Poisson cloud and the corresponding energies and computing a compact discrete-to-continuum limit. In order to avoid the effect of exceptional regions of the Poisson cloud, with an accumulation of sites or with "disconnected sites", a suitable "coarse-grained" notion of convergence of functions defined on scaled Poisson clouds must be given.