There are a couple of different options for configuring print queues.
If you only ever want to use your print server to print from the print client (i.e. you don't want to be able to configure any other queues, or print to any other servers), then create
/etc/cups/client.conf with a single line:
That change will kick in immediately.
If you want to be able to use other print queues or print servers from your print client, but still want your client configured with all of the print queues on the print server, you can use the BrowsePoll option. Edit
/etc/cups/cupsd.conf on the print client, and at the end of the file add the following block:
/etc/init.d/cups restart to pick up the configuration change.
Finally, if you only want to configure one queue at a time on your print server, you can use CUPS' web interface. Go to http://localhost:631 (again, from the print client) then click "Administration", then click "Add Printer". You'll be taken to a wizard which will walk you through configuring the queue.
In any case, running
lpstat -a should give you a list of the print queues that are configured on your client, so you can verify that it worked.