Pular involves jumping in the same placing, not moving to another direction, or to jump over a thing. Saltar may also involves that, but it includes to get to another place by a jump. Plus, pular is used more often.
so... is there such a portuguese phrase that "nós pulamos para a cama..."? cos in my world if i jump into bed that means i practically really jump! :) anyway i just go to bed... to sleep... eu vou para a cama... eu vou dormir... whatever.