The answer to all your muscle concerns is massage. Massage is considered one of the most crucial post-competition interventions in professional cycling, triathlon and team sports. Why?
To understand the answer to this, I need to go back to second year university physiology lectures which taught that the force a contracting muscle can create is proportional to its length. An already contracted muscle is unable to create anywhere near the power of one that is relaxed and supple.
The tightness you feel in your body after a fierce training session or race is due to the combination of inflammation and semi-contracted muscle fibres. Firm (and somewhat painful) remedial massage works to loosen contracted muscle fibres, thus preparing them for your next workout.
The other advantage of regular massage is that it enables your nervous system to recruit muscle fibres more effectively, which in turn delivers more force. I would suggest a fortnightly, if not weekly, massage for all serious endurance athletes, both amateur and professional.
So you want to heal faster and train better? both compression and massage make an enormous difference in the recovery game.