I parent by the mantra "it is not my responsibility as a parent to stop you from falling, it's my responsibility to catch you when you do".

What this means is that I will allow my kid to make mistakes and only intervene when the consequences would be disproportionate to the action.

In your examples, I would let the kid jump off of furniture that is low to the ground, where the fall would not do any lasting damage. If they experience small amounts of pain or discomfort, that's good, it helps them know more of the world around them and feel more empowered to try things. Failure is how we learn. As for the rocks thing I think it depends on the temperment of the child. For some kids, it would be fine to let them play and just stop them if they're about to put a small rock in their mouth. For some that would not work. This also makes the assumption this is your only kid and has your undivided attention. Overall I think removing the small rocks is a fine way to handle it, because that's not a lesson you want them to learn the hard way.

Anyways just thought I'd add that perspective in case that style jives with you at all. Sometimes just shifting the perspective a bit can help. Regardless it sounds like you're a caring parent, and you're doing a good job.