A little different here. Archie came to us knowing not to jump up on people but he so wants to. An unexpected jump up from him would certainly knock me down. What I have taught him is if I cock my knee and say up, he is allowed to gently place his front paws on my upper leg. I give him a good head scratch and he gives me a kiss. We're both happy and safe.
I use the command "load" for getting into the crate in the SUV. I too do not like him jumping down, except from the couch when I use the command "off". I'm unable to lift him down from the SUV so have a good grip on his harness to help him down and the impact is lessened.