Its a common problem, as many older PCs don't multi-task that well. I don't think there is much you can do to eliminate the problem, though you could try reducing the number of background tasks that are running. That might help a little.
Edit: I misread the original post, so ignore the advice above :=). You could try unchecking the 'Enable digital CD audio for this CD-ROM device' under the properties settings for your cdrom drive, and see if it helps any.