MP3 is a LOSSY compression scheme.
This means that to compress an audio file, MP3 encoder "throws away" part of audio information.
This explain why MP3 file appear as at lower quality...because they ARE at lower quality.
Anyway you have a number of options to improve them, if you have the original CD,encoding MP3 files to a higher quality level.
My advice is to use a good quality audio extraction software which lets you adjust MP3 encoder parameters (like FreeRIP
http://www.freerip.com ) and set it to use Variable Bit Rate (VBR) compression mode.
VBR MP3 encoding is a technology that dynamically adjusts MP3 bitrate depending on the audio input complexity. This way the audio encoder would use a lower bitrate (=less quality) on silence or plain audio chunks, and a higher bitrate (=more quality) where audio input is more complex.
If you are not satisfied with this, the other option is to use FLAC. Flac is a lossless audio encoder: basically it compress audio input without throwing away information. Its compression rate is worse than MP3 one, but its quaily is the same of the input source. The drawback is that not all portable audio players can play FLAC encoded files.