There are a whole bunch of things that could be happening here, depending on what metering mode you're in, what shooting mode, what/who you're shooting, and whether you mean the whole frame is underexposed, or just the subject. More information would help narrow it down.
The most obvious cause, especially if you're shooting with the camera in manual mode, is that the flash is firing at full power and it's simply not enough (when bounced) for the aperture and shutter speed you have selected. E-TTL is great, but it's not magic and can't make your flash put out more than 100% power
If this is the case, flash exposure compensation will do nothing--it's already maxed out. You will need a wider aperture or slower shutter speed. If you're using a high shutter speed and high-speed sync, this is more likely than if you're shooting at sync speed, since HSS reduces the effective power of your flash, but it's still possible in either case.
My Canon speedlites do not zoom with a zoom lens if they are pointed upwards to bounce, they go into manual zoom mode automatically. If the Yongnuo does not do this, you should set it manually (or find out if it's defective).