I just wanted to get nfs up and running on my Raspberry Jessie and got the uggly error message. Root cause is the nfs-server starts before rpcbind. If you restart the nfs-server after boot it will work. But will not work again after reboot. Following page describes how to get this fixed.

 You have to create two additional files for systemd:

1) /etc/systemd/system/nfs-common.services

[Unit]
Description=NFS Common daemons
Wants=remote-fs-pre.target
DefaultDependencies=no
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/etc/init.d/nfs-common start
ExecStop=/etc/init.d/nfs-common stop
[Install]
WantedBy=sysinit.target

2) /etc/systemd/system/rpcbind.services

[Unit]
Description=RPC bind portmap service
After=systemd-tmpfiles-setup.service
Wants=remote-fs-pre.target
Before=remote-fs-pre.target
DefaultDependencies=no
[Service]
ExecStart=/sbin/rpcbind -f -w
KillMode=process
Restart=on-failure
[Install]
WantedBy=sysinit.target
Alias=portmap

Now execute following commands:

systemctl enable nfs-common

systemctl enable rpcbind

and reboot. Enjoy :-)