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Open console, type "cl_interp #". (remove quote, # is for the number you input, default is 0.1, it is in seconds so it's 100ms by default)
In nutshell, lerp is for making you delay more so objects in the game won't look too 'choppy' in case the client has bad internet. In most games, you want this to be as low as possible.
Here are more detail about this topic: https://developer.valvesoftware.com/wiki/Source_Multiplayer_Networking#Entity_interpolation