Are there a lot of scratches on the disk? If so you might try the Pledge trick…spray on a light coat of Pledge furniture wax, then buff it (in to out, not round and round the disk). This sometimes helps with playback. Your computer drive may just be a little sensitive to scratches and not a particularly good reader.
The only method of cleaning the lens I would use would be to disassemble the drive partially (take the metal cover off the top), then clean the lens with a Qtip and a very small amount of isopropyl alcohol.
By the way, “the boys in them Chevy’s are gonna go crazy when they see these PIPES”.
At one time I had most of Cosby’s early albums memorized. The Chickenheart that ate NY City was a favorite.