are you using one switch for the Servers and PC's? If so, the best way to solve your need is to create two different layer 2 VLANs on the Switch. One VLAN for Servers and one VLAN for PC's. You can configure the ASA in transparent mode putting one ASA interface connected to one VLAN and the other interface to the other VLAN that way they will be logically separated by different VLAN and by the ASA.
Logically it will look like this:
PC's---------VLAN10(SWITCH)VLAN10--------ASA-----------VLAN20(SWITCH)VLAN20----------SERVERS