Wales have lost their past three games against the defending champions by an aggregate margin of just 12 points.
And Jones has hailed Wales coach Warren Gatland's work towards breaking down any mental barriers ahead of Sunday's clash with the Springboks in Wellington.
"We've been disappointed a few times we've played against them, especially in Cardiff. We pushed them hard," said Jones, a veteran on 70 Tests.
"Until half-time last November, we were totally dominant, and they brought on one of their flankers (Willem Alberts) and he changed the game. He was a hell of a lump.
"When I first started playing, if we got within four or five points of South Africa, the champagne would be going in the changing room and we would be chuffed to bits.
"Not so much anymore, we are disappointed. 'Gats' has installed a mentality that we can beat them. And when we do, I think we will push on a bit.
"It is something he has pushed into us, things like 'is anyone working as hard as us on the training field and in the gym?'
"We worked particularly hard during our summer training camps in Poland."
Gatland will announce his starting line-up on Friday, with the main area of selection debate likely to focus on full-back, where Lee Byrne, Leigh Halfpenny, Rhys Priestland and James Hook are all possible starters.
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