I allow bouncing on knees, but not jumping. DD is in a twin bed though, so there's more of a chance she'll fall out.
My grandma had a younger sister that hit her head jumping on the bed and passed away (in the 1920's), so I'll use that from time to time to keep the fear in DD. "Great grandma's sister fell when jumping on the bed and got very, very sick. We don't want to get very sick and make mama sad, do we?" Or something of the sort. Works most of the time for now. I don't really care a ton about jumping on the bed (it is a lot of fun!), just don't want DD to get hurt.
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Mama to DD "A" 2/23/2010 and DS "L" 4/25/2012