You are having this problem because you are attempting to console log app.address() before the connection has been made. You just have to be sure to console log after the connection is made, i.e. in a callback or after an event signaling that the connection has been made.
Fortunately, the 'listening' event is emitted by the server after the connection is made so just do this:
var express = require('express');
var http = require('http');
var app = express();
var server = http.createServer(app);
app.get('/', function(req, res) {
res.send("Hello World!");
});
server.listen(3000, 'localhost');
server.on('listening', function() {
console.log('Express server started on port %s at %s', server.address().port, server.address().address);
});
This works just fine in nodejs v0.6+ and Express v3.0+.