I like to braise my fresh asparagus in chicken broth with a little garlic, S&P.
Another way I do it is to saute' it with garlic in a bit of olive oil for a few minutes, then squeeze a little lemon juice over the top, lower the heat and let it steam until tender.
If you want to use more of the stalk, peel the lower part...the inside will be tender.
I love asparagus just about any way...I must admit, that when I'm picking it, I can't resist munching on some of the little tender shoots before I ever get them in the house.
We get by with a little help from our friends