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Arugula doesn't always taste bitter - it really depends on the variety and how old it is. Young leaves are much milder than old ones, so your best bet is to harvest regularly and not wait too long. If you're growing it yourself, try a milder variety like 'Cultivato' instead of the wild types. And in the kitchen: a little lemon, oil, and salt makes the bitterness way less noticeable.
Storage is often the problem - arugula gets bitter quickly if it sits around too long or is stored too warm. In the fridge in an airtight container it keeps better and stays milder. I agree with the others that young leaves are less bitter, but even then proper storage makes a difference - store-bought arugula is sometimes already older before you even use it.
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