Last night I departed Van Nuys (KVNY) 16L for the west and was given approval for right turn. I got a wrist slap from the tower for "violating Class C airspace" after reporting altitude of 3500. I was under the impression that as long as I was in contact with the tower I would be cleared. Guess not.
Thoughts about my options:
1. stay under 3000

2. ask Ground for flight following before taxiing
3. after right run and while under 3000 request frequency change from tower to SOCAL Approach and request flight following
Thanks all.
Brad