Do you get less sore the more you workout?

8

When I started workout out after a long break, I immediately felt sore after every workout. So, I knew I was pushing myself and got the most out of the workouts. Now, I feel stronger am able to get the workouts without taking additional breaks. However, I don't feel sore the next day. Should I push myself harder (lift heavier, etc) or is this normal in one's fitness journey?