This is the way. By going but not tipping you're just fucking over the server, not the business. To hurt the business' bottom line you have to not go. Or dine and dash, but that then fucks the server harder while also affecting the business.
That why they said they don't go to restaurants with servers. Either go to a restaurant where you buy food at a counter and bus yourself, or go to a tipless resturant with servers. Obviously don't just screw over the server.
Though, on a large scale, if everyone just stopped tipping all at once, nobody would be willing to work for server wages anymore, and restaurants would have to increase pay or get fucked. Too bad our economy is based on fighting for survival, and not the profit motive, because the reality is that it would just fuck people's lives up really bad.
Sure, that might work, or give it to them up front (protip btw, you want GREAT service? Frontload that tip, your server will break the law for you if you do that lol).