Colliding issue

Im creating a simple platform game. The player has a rigidbody and a collider which allows it to move and jump.

The thing is, everytime when the player jumps and lands, it gets "buried" on the surface for only a frame. I know this is not a really big issue, but Id like to know if theres any way to solve that problem, so everytime it jumps, it doesnt overlap the floor or any obstacle.

 

Set the rigidbody to continuous dynamic and interpolate like in the screenshot: