I have heard arguments for both sides. Conventional wisdom treats them like bumpstops and there should be clearance. The other side had a compelling article stating that the bumpers are more like progressive rate Timbren blocks (rubber springs) and factor into the suspension. This argument gains validity as just about everyone, with an unaltered stock suspension in our year range polled, said their trucks were resting on the blocks, also.
I don't know what you mean by 'nervousness' so I cannot directly address your situation. Many factors such as weight distribution, tire pressure, wheel alignment, condition of the shocks, and torsion bar pre-load will affect the way the truck will handle bumps.
So, now that I have you thinking about all this I will relate my experiences while I was experimenting with front end height adjustments awhile back.
When I would hit a wide bump that affected both wheels at once I noticed a tightness on the driver side as it seemed to rebound quicker than the other side. This was caused by the infamous GM Lean condition where most Tahoes and Yukons 'leaned' towards the drivers side front corner where is was around an inch lower. This caused the control arm to be either closer to the block or resting on it more than the other side. This made the truck act like it had a stiffer spring on the drivers side. When I adjusted the torsion bar to bring the drivers side level with the other, plus a tad more to make up for my weight since I normally drive alone, the front end behaved like it should. This was with the bumpers very lightly on the control arms and this gave me a nice tight Euro feel that cornered well. As winter set in I jacked the torsion bars more to get extra ground clearance. This ok for height but the extra preload stiffened the front end so much I took a beating on the crappy roads in the Detroit, MI area. This was with the bumpers about 3/8 to 1/2 inch off the control arms.
After much experimenting, my sweet spot seems to be about 1/16 to 1/8 inch off the arms. Not as tight a feel but enough leeway to allow for pot holes and the occasional small car or pedestrian. I used a piece of standard shipping box cardboard as a feeler guage and keep the tires at 35 psi. As this suspension has a short travel - a small adjustment is pretty noticeable.
Good luck with it.
Ed