I really like wrenchās suggestion on desensitization.
Itās an important thing for parrots thatās also talked about a lot and should continue that way!
Parrots are prey animals so itās true that they will (some more than others) be afraid of almost anything new. Or anything unfamiliar to them.
That could be humans AND objects. Even experiences.
Every time your bird gets near the countertop, reward that desired behavior with a high value treat!
As gradual progression is displayed, reward more and lots of praise along with good experiences on those surfaces. Like scritches, yummy food, or having foot toys to play with.
So all in all, reward desired behavior while also making the experience of floor and countertop time an enriching thing.