I took off the legs of the bed to make it easier for her to jump, but she did the same thing, stopping at the bed to get some affection first. Big smile, looking sideways, her "get the message" look.
Now, if I ask, "Do you need pets first?" she stays in place in front of the bed and says "Woof!" - a strong, affirmative, insistent "Yes!" Then I pet her and tell her how many people love her. She licks my hand in appreciation. Then we have the buildup, a lot of noise and a big run and "Up!" She jumps and lands on a good place to rest.
I am lucky - she leases 33% of the bed to me.