I have a high bed too, so what I do is keep two big fluffy dog pillows on the side of the bed that they jump on/off the bed. The pillows easily fit under the bed, when I don't need them. But when I am in the room with the dogs, that is always the first thing I pull out.
My breeder said that if the dog can jump up onto the surface, then it should be able to jump down off the surface safely. However, I just feel better padding the jump for them and protecting their little limbs. I have hardwood floors too, so I want to cushion their landing.
Charleen and Cav's: Pippin (ruby male), Merry (b&t female), Luke (blenheim male) & Jolly (tri male puppy)