Are you talking about ripping live albums from CD, or from some other source? If you rip to MP3 and play, there will always be a slight pause because of the nature of MP3s. You've gotta rip to WAV or another uncompressed format for there to be no pauses. Not sure if FLAC (compressed, but lossless) will give you pauses. It might during computer playback, but if you burn to CD from FLAC, it won't.

Also, if you're looking to get rid of the pauses in between tracks that are hard-coded into the CD itself (like that two-second countdown before a track), some ripping programs will skip ripping that space if you set it properly. Exact Audio Copy is one of those programs.