How to run a Symfony app without using the built-in server?

In the documentation is clearly explained how to run the built-in server to run a Symfony App.

Ok, all works well and i'm very happy, but:

How can i run a Symfony App without using the server but simply something like http://localhost/path/to/symfonyApp/web/app.php?

Here the documentation: http://symfony.com/doc/current/cookbook/web_server/built_in.html

This is also explained in docs: Configuring a Web Server