That's the nature of TCP: the protocol fills up packets (lower layer being IP packets) and sends them. You can have some degree of control over the MTU (Maximum Transfer Unit).
In other words: you must devise a protocol that rides on top of TCP where your "payload delineation" is defined. By "payload delineation" I mean the way you extract the unit of message your protocol supports. This can be as simple as "every NULL terminated strings".