I second pretty much everything that's been said. It is going to happen at times. You need a lighter with an adjustable flame. Use a small flame to start, and adjust as needed for relights. I didn't realize that I really needed a lighter with an adjustable flame until I acquired a few pipes with stacked bowls. I can't recommend an actual pipe lighter with an adjustable flame enough to help avoid rim charring.
As far as technique... I pack the bowl short of the top of the bowl, false light, tamp, relight, and then puff, puff, puff.