A hard rubber puck with a slit or aluminum adapter that fits into the jack 'cup' is a good idea when lifting from the pinch weld (when using the floor jack to change a tire).
This kind of jack pad is safe to use, again as long as it's not able to just slide off the jack 'cup'. The jack manufacturers themselves sell these. I personally trust this more than just metal on metal if I'm jacking from a subframe or diff.
Wood can be sketchy and isn't recommended (not gonna say I haven't done it)