It seems like it depends on the player/its decoder how audible these errors are
3 Ways to get rid of/reduce errors:
1. Rip + encode from original CD

2. Play with mp3DirectCut - applying gain to single frames (positive or negative) could make the errors less audible.
3. Decode, apply some kind of interpolation or glitch/pop removal, copy+replace from similar points of the song ... whatever helps. If you want the result to be mp3, reencode and use mp3directcut to cut the bad frames out and replace them by re-encoded better ones.
These are only ideas (2.+3.) - I haven't tried them, but I think it could work.