I just bought an used Toyota Yaris 2008 hatchback and I'm preparing to change oil for the first time.

There's a jack supplied with the car (along the with spare tire). However, the manual seems to suggest that I should use a floor jack to jack up my car instead.

Is this just a legal thing where they just recommend the best thing possible, or is it an advice I should follow? If indeed it's good advice, then how could I jack up my car to change tire on the highway when only the supplied jack is available?