Ltd company; invoice date vs payment date

I'm the director and sole employee of my own ltd. company. When I am dealing with company accounts, am I to use the date I sent out an invoice or the date the invoice was actually paid for forms such as VAT3?

It almost seems silly to ask this as I can't imagine you being liable for VAT on an invoice that potentially might not be paid (in the worst circumstances) but I saw this mentioned elsewhere and would like to confirm with someone who knows a bit more

Depending on your turnover, you may be able to apply to pay VAT on the "moneys received" basis - i.e., you raise your invoice as normal on the correct date, but apply the VAT on your VAT3 when the invoice is paid.

Info on the below link.
http://www.revenue.ie/en/tax/vat/guide/received-basis.html#section1

The default option is on an invoice basis ie you pay vat depending on the date of invoice as opposed to when you receive the money

When you registered for VAT originally you had the option of choosing the cash-receipts basis. If you didn't go for this option then you are on an invoice basis and will have to apply to Revenue to change it. You cannot just decide to change it yourself