My understanding is the 2nd one with dl and dh is the precise method, while the first set is a generalization. If DW is is around 2, then you know for sure no serial. If its less than two, then you can say its positive serial. If its a large number, then you know its negative serial correlation.
The first interpretation only tells us whether the errors are not serial correlated or serial correlated:
Not serial correlated if Cov(εt, εt−1) equals 0; DW will equal 2;
Serial correlated (if DW ≠ 0)
The second interpretation tests whether the DW stat differs significantly from 2 by showing the value at different levels of serial correlation.
The null hypothesis (no serial correlation) is setup to be rejected if the DW stat is below the critical value (d*). The DW table doesn’t provide the “true” critical value (d*) but provides (du) and (dl) values, giving us a range. If the DW stat is within the range, the test is inconclusive because we don’t know for sure whether it’s above or below the true critical value (d*).