I may have answered this before, but it seems to keep coming up.
The answer is: It depends on the horse.
Some horses like jumping. Some are pretty indifferent to it. And some absolutely hate it.
Most of the high end show jumpers you see like jumping because if they don't it's just hard to impossible to train them to that level. They seem to think it's a fun game to play with their rider. And I've known lazy horses who perk up a lot when they see jump standards.
So, yeah, depends on the horse (and I personally think it's mean to make a horse jump that actively hates doing it).