**In my humble opinion, liftoff speed is another useless speed for most piston singles. Far better to raise the nose wheel (if flying a nose dragger) slightly, keep all eyes outside and let the liftoff happen.
Tis a pleasure when you get it right which will be always with practice. In a tail dragger of course it is even more important to keep all eyes outside and again, from a tail low position liftoff is automatic.**
Lift off speed is not a speed to aim for lift off to "pull" the aircraft off the ground. If you read the recommended take off procedure it says to accelerate to around this speed and set take-off attitude. All things calculated correctly and the aircraft should become airborne at close to this speed.
There are three types of take-off technique usually mentioned in the POH, normal, short field with obstacle and soft field. Soft field raising the nose at the right point is important, rotate too early and the mains will be pushed further into the muck by the downward tail force. Raising the nose too early on the other forms of take-off will increase aerodynamic drag at a point where the aircraft is not able to fly yet and will consume more runway then necessary. The lift off speed gives you a rough rotate speed to achieve this.