Happy Holidays to you as well!
No, sleeping on the floor won't give her joint problems. ;) So no worries on that count.
To her, the bed is just a new item in the environment. She has no idea that it is hers and not yours.
You can try luring her onto the bed: Grab a treat, let her smell it, and then drag your hand across the bed. This should entice her to walk onto the bed. Then ask for a down/stay or a sit/stay.
OR, if she has some sort of bedding in the crate, lay that on top of the new bed. This will help to make it smell like her and may make her more comfy with it.
My own dog just thought beds were extremely large stuffed toys when I had a house w/wall-wall carpeting. She had no interest in dogbeds until I moved to a house with hardwood floors. Now, she adores them! (She was 3 when we moved)
If your dog has a heavy coat, she may just simply get overheated on a bed. She might actually prefer something like a sheepskin mat, which won't hold as much heat, to a traditional bed if she has a heavy coat or heavy undercoat. If you see her laying in the coldest spots of the house, that could be the problem.
ETA: Actually getting her to sleep on the bed is next to impossible. Yes, you can teach her to lay on it on command. My dog knows this too--for us the command name is "BED"-and I use this command when she is bothering me to death and I want to just get her away from me and to settle. But once you are also asleep, she's going to do whatever she wants to do. At this point, I'd guess she'll go right back to her crate as that is what feels customary to her.
She's going to sleep where she want to sleep. As you'll also be asleep overnight, not much you can do on that count. ;)
Once my dog understood and wanted to sleep on her bed (and again, this took a house with hardwood floors) she was more than happy to sleep on a bed in my bedroom. But that was as much luck as anything. Yes, she had learned that the beds were 'hers' and that I was pleased when she used them. But frankly, when I'm asleep--she can do whatever she wants and I'd be none the wiser. ;)
I am a HUGE fan of the Bed or Go To Place or Settle command--they're all really the same command--different trainers use different names-as it is a huge help during the day. But once you are asleep and not rewarding/correcting, she's going to do as she pleases.