Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Americans pronounce serve as SURV (/sɜrv/). You'll hear it in sentences like "Serve the worst person the worst burger".
Record yourself saying "serve" and play it back. The mic stays on your device — nothing's uploaded.
1 syllable, 3 sounds. Explore each sound's mouth shape and how it's made.
Place your tongue tip near the roof of your mouth behind your top teeth. Push air through the narrow gap. No voicing.

Flare your lips and push them away from the face. Lift the middle of your tongue toward the roof of the mouth.

Lift your bottom lip so its inner edge (where the wet part meets the dry part) touches the very bottom of your top front teeth. Add vocal cord vibration as you blow air through.

The textbook way isn't wrong — it's just not how anyone actually says it.
Americans use a relaxed retroflex R — the tongue curls back rather than rolling. The R is one continuous sound with the vowel before it, not two separate sounds.