Although Jupiter has a strong gravitational pull on the earth, it is extremely small compared with the gravitational pull from the Sun, so we will never get pulled out of our orbit around the sun and more towards Jupiter. Gravitational pull gets stronger with more mass and shorter distance between two objects, and the sun is over 1000 X more massive than Jupiter as well as at least 4 X closer to Earth.

There is really nothing to worry about. Though earth is much smaller than Jupiter, we are much closer to the center of the earth than to Jupiter, so the gravity of the Jupiter barely has any effect on us. And since the strongest gravity force on earth is from the sun, so Jupiter will not pull the earth away from its current orbit.

Never.

Jupiter pulls on everything in the earth with about equal strength, which means that sure, we're being pulled by Jupiter, but so is the rest of the earth, so we will go along with the earth. Also, there are other objects in the solar system that pull on us much harder than Jupiter - the sun, for example. Earth has enough forward motion that it can't fall directly into the sun, instead falling around it, in an orbit.

Jupiter's gravity: Jupiter is heavy and indeed exerts the gravitational pull to Earth like other planets. But also keep in mind, the gravitational force is inversely proportional to the distance squared. This could compensate the heavy mass like Jupiter. It turned out when Jupiter is closest to the Earth, it will only slightly affect Earth's orbit around the sun.