Soreness is caused mainly by the damage from stretching the muscle under tension. ie the eccentric/negative part.
Do only Concentric moves and you will not get sore, and won't gain much size either, so yes you are sorta right. But once your fibers get used to the stress it won't get all that sore, and you will still gain size. In fact if your less sore you recover much faster, which means you can train more often and grow faster!
Trying to make yourself very sore all the time will probably result in lots of scar tissue build up - so you will have problems a few years down the road if you don't regular deep tissue massage to break up the scar tissue. ie