I've seen a few threads on this topic and it seems to be the general consensus that it is possible to fix it. I have to say that my experience has been otherwise; I've always aimed to minimize it in the gears that I used the most. Modern derailleurs, such as SRAM Force, have now managed to fix the issue by rotating slightly as they move in and out but on my older bikes I've always just accepted that the chain will rub somewhere, particularly on a triple chainset which it appears is what you have. Happy to be told I'm wrong, though.