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Do Models equipped with jump packs, have to make a dangerous terrain if they finish their movement in difficult terrain even if they didn't move over 6" to get there?
Because to me moving up to 6" is just walking like any other infantry, and then anything 6"+ is using the jump pack, therefore they shouldn't. But I don't know the actually ruling with this?

Pretty sure before you move you need to say whether they are walking or jumping, plus to get into that terrain if you are walking you would need to roll 2 dice to see how far you can walk in. Jump troops don't have to use their packs but you need to tell your opponent how they are moving before you measure/move them.

So there is a way of getting them into terrain without dangerous testing

If you declare you are jumping, and you start or end in difficult terrain, you take dangerous terrain tests.

If you declare you are moving normally, only a difficult terrain test is required if you start, or move into difficult terrain.

See page 52, BRB. Under "Movement", first two sentences.

You can also assault and run into difficult terrain without having to make a dangerous terrain test.