There are a few things that contribute to lack of clarifying in your situation:
1 - Yeast
As you've stated, "pouring leaving a bit behind does do the trick". That is completely due to yeast, which is needed in order to create CO2 in your bottles. No way around this if you are carbonating your beers in the bottle. You will get a yeast cake at the bottom of your bottles. So leaving a little will leave the yeast behind. Belgian bottle conditioned beers that are commercial have the same thing, and it's ok. If you remove all the yeast from your beer before bottling, you will not get carbonated beer.
2 - Chill Haze
This happens generally on first chilling beer, and will settle out once under refrigeration for a period of time.
3 - Trub and Misc
If when you are transferring from your fermenter to your racking bucket and picking up spent yeast and other trub, then that is easily solved by not drawing that stuff up into the syphon when transferring. It's ok to leave a little behind in the name of clear beer. The instinct is to grab it all, and understandably so, however letting a little go to keep what has settled at the bottom in your primary undisturbed will help a lot in clarification. To offset this a lot of people will brew a little more than needed (5.5 gallons) so that when it comes time to bottling/kegging after transfers and the loss associated, we end with around 5 gallons.
As others have mentioned, if you are able to move to kegging, then you can force carbonate which will produce clearer beers than bottle conditioning. After I keg, I put in fridge under CO2 and forget about it for a week or so. After that time I'm carbonated and the chill haze is gone and I have clear beer. I need only be a little patient. From there I can bottle clear (if I want) using a bottling tool for kegs. However I rarely bottle from kegs, only if I'm entering a competition, or if I have a high ABV brew that I want to last for a long time and need to free a keg up.
If you are going to keep doing bottles and carbonating in the bottles, then you will always have yeast in the bottom, just tell people you brew like the monks and like to bottle condition. After you bottle, but in fridge to allow chill haze to settle, and when pouring simply leave a little behind and what you pour should be clean.