I am more confused than ever

after searching for information on lactic acid. In the past I have done Jari Love's Get Ripped workout which uses very high reps and lower weight and always feel the "burn" which I understand is the lactic acid but I am not sure if I had ever really felt muscle fatigue. Could I have mistaken the burn for muscle fatigue? Is it a good thing or not to feel the lactic acid and the burn? Do you only feel the burn from doing high reps? I am used to doing 60+ reps with that workout and am now thinking maybe that is why I didn't get great results is because I was only feeling the burn and not really fatiguing my muscle?? Sorry for the questions, I am still trying to figure out the fastest and BEST way to achieve the results I want
