Unfortunately, you would have to file suit in breach of contract against them for the money they owe and secure a judgment in court before you can take such a lien out. You will need an attorney to do this as a business
must be represented by an attorney. Once you file suit, that suit becomes a liability of the company and if they sell, that liability transfers to the successor business. I know you do not want to sue, but this is the only way to collect on the breach of contract claim. The best place to find an attorney is the same site used by other attorneys, http://www.martindale.com and many attorneys may do this on a percentage of what they collect from you in the judgment.
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