I can't tell you how much furniture I had to rearrange in order to protect my little girl from herself. I used to think her daredevil ideas were due to the fact that she grew up with kittens but after reading comments here I see that it seems to a Yorkie trait.
Gracie used to like to climb up onto the back of our rocker recliner and sleep there as the cat would. Of course I was afraid that someone might sit down in the chair not realizing that she has no ability to hang on like a cat does with its claws and send her flying.
My only suggestion is to move furniture in ways that will protect you little one from its daredevil tendencies. Gracie has gotten to be less of a stunt dog now that she is 5 but she still has her moments.