The quality of your workout should not be determined by how sore you are. The quality of your workout should be determined by how you feel. Contrary to popular opinion, soreness is not related to effectiveness. In fact, sometimes soreness can slow progress. Slight soreness in muscles for 1-2 days can be normal but is typically only caused after doing something new and novel. Pain should never be felt in the joints. Wouldn't it be nice to achieve your goals without grimacing every time you sit down?
Do you measure the effectiveness of your workout based on your level of soreness?