You don't have to. Change the rep/set range of your workout, to a complete opposite.

EG: You usually do bench presses with 3x10x100KG. Try 10x3x140KG

Or if today you're using medium reps, try high reps. Just mix and match the reps and weight and depth and tempo of descend and ascent. Use a different tool, for example change from a dumbbell to a barbell or kettlebell or sandbag and vice versa. You'll stay sore that way if you like it. I prefer to NOT be sore.

Let's look at it this way. When you're sore, your muscles are at probably 70%. If you keep attempting at being sore, your muscles efficiency will decrease to 60-50...maybe even 40% only. Now this brings on three probs.

1. You cannot have maximal hypertrophy (if you're looking at it the bodybuilders way) and that will suck as a certain percentage of your muscles have to overcompensate and then you have this weird physique that looks...weird. Overcompensation then brings us to the next problem;

2. You get injuries, because your constantly sore muscles cannot perform fully and and under perform causing stabilizer and surrounding muscles to work doubly hard. Adhesion will cause tissue build-up that doesn't perform. Yay for useless muscle (that's hiding a constant injury)

3. You feel like shit.

At least based on studies thats what I've found out. Personal observation, yes to 2 and 3. As for the 1st one, I'm unsure because hypertrophy isn't exactly my main goal here.