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Suggested translation^1,2:

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¹This translation may have been updated from the original suggested translation as a result of the discussions that follow.
²Click on the {verse number} of a translation to see other good translations of the verse.

The alternative translations, available by clicking on the verse numbers, were particularly helpful here. My comments are as follow:

1. تتقون does not mean "be righteous." It means being watchful of God. Being righteous is the result of being watchful of God. See the discussion of this word in the "Words hard to translate" forum.
   
2. فراش does not mean "bed" nor "resting place." It means a spread or a sprawl. It is commonly used as metaphor for bed. In 2:22, God tells us that He spread out the earth for us, for easy access, for comfort and for support.
   
3. بناء does not mean canopy or ceiling. It means a building, a well founded building.

So, I propose the following translation,
{2:21} O people, worship your Lord, who created you and those before you, that you may be watchful [of Him].
{2:22} Who made for you the earth a spread and the sky a structure and sent down from the sky water and brought forth thereby fruits as provision for you. So do not knowingly set up to God equals.

I also like very much Pickthall's translation of the last sentence, "So do not set up rivals to God when you know (better)."

Per the "order of words" thread in Translation issues, I think it should be "set up equals to God" rather than "set up to God equals" because the latter is not a normal order of words in English while the Arabic version has a normal order of words.

I agree. While "set up to God equals" is grammatically correct, it doesn't look right.

Here is an updated suggestion,

{2:22} Who made for you the earth a spread and the sky a structure and sent down from the sky water and brought forth thereby fruits as provision for you. So, do not set up equals to God while you know [better].