READY TO GET YOUR MIND BLOWN!?
For starters...Lactic acid is not what makes you feel "the burn". It's actually from an increased production of hydrogen ions.
It also doesn't make you sore, the soreness you feel after a work out is tiny micro tears in your muscles.
Blood lactate is actually produced when the demand for oxygen is higher than the supply, so your body starts using glycogen (anaerobic system) for energy.
This increase in blood lactate is a good thing! Embrace it!