I am getting all four wheels off the ground for the first time soon to change all the brakes & the steering stabilizer. The four jacking points are obvious, but what about jack stand placement?

The maintenance manual says:
FLOOR JACK: When properly positioned, a floor jack can be used to liftthe vehicle. Support the vehicle in the raised position with jack stands at thefront and rear ends of the frame rails.
Do I just find a suitable place on the "ends" like the book says or does anybody have a recommendation?