It's not good to massage immediately after an exercise (the massage you get at massage tents post-ride is more a relaxation rub) but a few days afterwards you should go for a deep tissue sports massage- and yes even if its painful. The massage person will ajust the pressure as required but its a case of no pain no gain!

However it is worth it.

Also have a bath with Epsom salts to help drain the lactic acid out of your muscles.