At its simplest...
convert MyPDF.pdf MyJPG.jpg
You can influence the size/quality of the resultant jpg...
convert -density 100 MyPDF.pdf -quality 80 MyJPG.jpg
quality is expressed as a percentagedensity is expressed as DPIIf you get a black background, try something like this...
convert -density 100 MyPDF.pdf -colorspace sRGB -background white -alpha remove -quality 80 MyPNG.png
quality is expressed as a percentagedensity is expressed as DPI