...I clean up after people who have not...
Thank you!
In general, you can camp anywhere on USFS, BLM, and National Monument land. You cannot camp on Indian reservations unless you have special permission, as it's their land, not ours.
The only time I park my truck/camper at a campground is when there is not convenient public land nearby that is free and private. You should not camp within 200' of streams/lakes or make a fire ring where one is not already established. BLM prohibits building fires on the ground unless you have a fire pan. I assume the BLM requirement for self-contained vehicles is an effort to enforce the leave no trace ethic. Unfortunately the cattle industry has already made a joke out of that.
Also, I hope it goes without saying that despite the fact that 4x4 vehicles can drive right through sand and over sagebrush quite happily, you should never take them "off road" on public land, as the auto manufacturers love to show in their ads. Stay on two-track roads. Sorry this almost turned into a rant.
As for bears... don't attract them! Never dump grey water or bury food or human waste anywhere near your campsite. When I'm in bear country and really concerned, I don't cook - it makes too many smells. You can boil water and then dump in a freeze-dried meal, but nothing more. I'm always careful anywhere there are bears, but I'm extra vigilant farther north. For some reason when you cross the Canadian border the bear situation just changes. Black bears there are just as dangerous as grizzlies - not like Great Smoky Mountains or Yosemite NPs. Don't attract them. I've spent over 50 years camping and hiking in bear country and never had a problem, though I've been very concerned a few times. If you are in serious bear country, you should carry bear spray, know how to use it, and understand how to identify bear behavior...
http://www.amazon.com/Encounter-Survival-Guide-James-Shelton/dp/0969809905#