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I think the tip. But you also can try to put the tip of your tounge between teeth. The most important thing is to tense muscles of the tounge.

Ну я честно потренировался – в слове столы Л звучит с напряжение, а в слове стол – немного спокойней. Но, разумеется, ни о каком У там речи нет.

Yes, they do. When I was a little boy I prononced hard L like you. It takes me some years to understand right way to prononce hard L.
If you prononce short U(У) instead of hard L(Л) it sounds like...