Yeah, I think it's a bit offensive. Honestly though, it's getting to the point where 9/11 gags and shit like this are only offensive to people who can still remember that day and remember it well. It was 15 years ago and I can still remember how fucking scary that day was, and all the traumatic shit that followed over the course of the next year. So yeah, I do find this commercial offensive.
Do I think it should be pulled from TV? Of course not. I can tell you this though: if I were looking for a mattress, and I saw this tacky, shitty, tasteless ad, I would never fucking buy from those people. No way they'd be getting a dime out of me, and considering this was their attempt to ENTICE you to spending money with them, that makes the commercial a pretty colossal failure.