If you put her up there with you any other time does she try to jump off? At that age they really have no concept of distance.
Gracie jumped off the couch once and didn't hurt herself, but it did scare her
and she hasn't tried jumping off anything again. We've put a small step stool and she'll use it to go up and down. It only took one afternoon of showing her how to use it and the benefits of being able to come and go as she pleased. We've never had any trouble with the bed as she has always been good at going to sleep as soon as we turn out the light.
Can you get some steps for the bed for her to try?