I personally have found when I increase my resistance, do something new, change my exercises, or the order in how I choose to do them make me a little sore 48 hours later. Because I'm shocking my muscles but doing something new. I usually change things around like every 3 weeks. I will lift 3 x a week, 4 x a week, 5 x a week & change the moves also every 3 weeks. So I am usually a little sore every time.
as far as preventing soreness, I have seen sometimes If I massage the muscle for like 5 minutes after I worked it. The soreness will be much less. But it does not work every time. And 1 more thing. From my experience. The harder & longer you work a muscle the more sore it will be.