You can't really. Cats are three-dimensional thinkers, and "up is good" is their main mindset.
The best you can offer is to place "stuff" on the edge of the counter so they do not jump up in the first place. Get a whole bunch of hard cover books or picture frames and set them along the edge of all your counters so they cannot see where the counter really is. Make sure there aren't any chairs or stools around for them to study the landing space.