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Steam cleaning gets out a lot of different stains. If you still have lingering stains once the steam cleaning has been done, there are a few ways you can tackle them. Start first with the easiest option, which is soap and water. Take a sponge and dip it in water. Put some dish detergent on the sponge and massage it into the pad. Wring the excess water from the sponge. Blot the stain with the sponge, coating the stain in the soapy mixture. Next, clean the soap out of the sponge and put fresh water in the sponge. Take the sponge and blot the soapy area to remove the soap and the stain from the surface. Make sure you don't scrub the stain too hard with the sponge. You don't want to rip apart the fabric of the upholstery with the excessive force of the rubbing. Instead of soap and water, you can try to use vinegar to remove the stains. Take white or apple cider vinegar and soak a cloth. Blot the stain on the upholstery with the fabric, saturating the fabric with the vinegar. Make sure you don't scrub too hard on the fabric so you don't make the stain set in more or harm the fabric. You can gently rub the stain with the cloth in a circular manner to help remove the stain particles with the cloth. If you don't have vinegar, you can also use vodka. The smell of either will evaporate once the fabric dries. If none of the other methods of stain cleaning work, you may need to try a heavy duty commercial cleaner such as Tuff Stuff, Resolve, or Folex. Take a cloth or sponge and wet it. Spray the cleaner directly on the fabric and use the cloth to blot the stain. You can also gently rub the spot with circular motions to help loosen the stain.  Make sure you test the cleaner on a part of the upholstery that isn't normally visible. You want to make sure the cleaner won't hurt the fabric. If you have a wine or coffee stain, try Wine Away. It is made to specifically treat dark liquid stains. If the stain is still being stubborn, you may have to go through another round of cleaning until the stain is completely removed.
Clean the stain with water and soap. Use vinegar. Use heavy duty cleaner.