The Trace Theorem in Evan's Book (1st edition) says that,
Assume $U$ is bounded and $\partial U$ is $C^1$. Then there exsits a bounded linear operator $T$, $$T:W^{1,p}(U)\rightarrow L^p(U)$$ such that,
(i) $Tu=u|_{\partial U}$ if $u\in W^{1,p}(U)\cap C(U)$,
and
(ii) $\|Tu\|_{L^p(\partial U)} \le C \| u \|_{W^{1,p}(U)}$.
for each $u\in W^{1,p}(U)$, with the constant $C$ depending only on $p$ and $U$.
I am interested in the uniqueness. Does there exist different operators $T_1$ and $T_2$ which satisfy the condition in the Trace Theorem ? This theorem does not answer this question.
If yes, then we cannot define $Tu$ as the trace of $u$ on $\partial U$.
The trace operator $T$ is characterized by two facts:
I - $T$ is a bounded linear operator from $W^{1,p}(\Omega)$ into $L^p(\partial\Omega)$.
II - $T_{|C^1(\overline{\Omega})}$ is equal to the restriction operator to the boundary, i.e. if $u\in C^1(\overline{\Omega})$ then $$Tu=u_{\partial\Omega}$$
Item II guarantees that $T$ restricted to $C^1(\overline{\Omega})$ is unique. The first item guarantess that it is possible to extend $T$ to $W^{1,p}(\Omega)$ (remember that if $\partial\Omega\in C^1$ then $C^1(\overline{\Omega})$ is dense in $W^{1,p}(\Omega)$) and this extension is unique.