You can train your legs every day with soreness... You just have to be careful about over-training. I currently squat three times a week, dead lift two times a week, row/erg two times a week, and run once a week. All require your legs , but I listen to my body, making sure I do not over train them. When I feel overly tired or show other signs of over training I either lighten up or skip the workout all together. As long as you do the same you can do whatever the heck you want.
I wouldn't say being sore is a sign of over training... And pushing through the soreness in a workout will often make it go away. Not really sure why. Heh. More blood flow to the muscles?