Here's an energy-momentum diagram that could be helpful.
(Energy runs to the right.
A corresponding spacetime diagram (a position vs time graph) has time running to the right.)
A particle of mass m=1.0 unit has relativistic energy and momentum, as measured in this "lab frame",
(E,p) along the hyperbola of radius 1.0 (called the "mass-shell").
The slope gives the velocity of the particle in this frame. The dotted rays correspond to the speed of light, which are the asymptotes of the hyperbolas.
Suppose one can change the velocity of the particle
without changing its [invariant rest-]mass.
Then the particle state (E,p) is advanced along the m=1.0 hyperbola, as shown.
Suppose that, in the particle frame, the impulses are discrete and are equally-sized.
On the diagram, equal-size impulses correspond to equal areas of the hyperbolic sectors.
(The sector area is proportional to the rapidity [Minkowski-angle] change along the arc.)
Note that each successive of the "equal-size impulses in the particle frame"
corresponds "in the lab frame"
to successively
smaller LARGER increments in relativistic energy and in relativistic momentum,
as well as but with smaller increments in velocity, which is asymptotically approaching the speed of light,
which means that successively larger increments in relativistic energy and momentum in the lab-frame are needed to further increment the speed in the lab-frame.
(To see what it looks like in the particle frame,
reset (E,p) on the m=1.0 hyperbola back to v=0.
Note that the speed of light on the diagram is still represented by the asymptotes of the hyperbola.)
Although it may not be obvious,
the area of hyperbolic sector with sides along v=0.0c and v=1.0c
is infinite.
So, this particle of [invariant rest-]mass m cannot reach
the speed of light with a finite number of such impulses.
Here's my desmos file for the diagram
https://www.desmos.com/calculator/pyhb6ua0j3
(For more information on
other ways to try to
get this particle to reach the speed of light (which involves a change in [invariant rest-]mass),
here is an older post
https://www.physicsforums.com/threads/massless-photon.900960/page-2#post-5842652 )
By the way, one question in your original post is unclear.
I have reformatted it to ask for clarification.
mucker said:
...So my question is, is it more accurate when we say
“it requires an infinite amount of energy to reach the speed of light”
to change that to
“it requires an infinite amount of energy to reach the speed of light”
Something is unclear.