In my younger years, I always took the containers out of the truck and filled them on the ground. At some point, those 5 gal jugs got too heavy to comfortably hoist back into the truck, so I began filling them in the bed. There are signs at several gas pumps in the area that say not to do this, but I see people doing it all the time. I'm sure there have been accidents, but I've never seen or heard of one in this area.
Eventually, I got smart and switched from 5 gal jugs to much lighter 2.5 gal containers, which I fill on the ground. The way my back feels, I may be using 1 gal containers before long.