You can make everything work consistently, if you go back to fundamentals. In the middle of the 20th century, it was (belatedly) discovered that the kinematic symmetry group of non-relativistic physics is not the homogeneous Galilei group, which has only 10 dimensions, but its central extension to the Bargmann group, which has an 11th dimension.
This upgrade was not reflected by a similar upgrade on the Relativity side of the (Relativistic ⇐ Non-Relativistic) correspondence limit arrow, so as a result: the correspondence limit arrow was broken, and Correspondence Principle was violated.
To repair this requires making a similar extension on the relativistic side of the arrow, thereby lifting the symmetry group for Relativity - Poincaré - from 10 dimensions to a group, that one might call, "Relativistic Bargmann", that has 11. The place where this change makes its presence felt is precisely with the issue of vacuum energy and - for other representations - internal energy.
Let's see how this works...
In Relativity, the role of energy is played by a quantity $E$ that is meant to fully embody mass-energy unification. For an ordinary slower-than-light body, it includes its kinetic + internal energy, which will be denoted $H$, and the energy $mc^2$ associated with its mass $m$, resulting in $E = mc^2 + H$. Both $H$ and $m$ have non-relativistic limits, but $m$ is not actually related to any generator per se. Rather it arises as the magnitude of the energy-momentum vector $(E,𝐏)$: $\left(mc^2\right)^2 = E^2 - |𝐏|^2c^2$. In contrast, what does arise from a generator is the relativistic mass $M = E/c^2$. This also has the mass as its non-relativistic limit.
As is, $E$, $m$, $M$ and $H$ are not, and can't be made, independent of one another, but are all tied directly to $(E,𝐏)$. The Poincaré group is too constrained. In contrast, in the Bargmann group, $(H,𝐏,m)$ gives rise to a 5-vector in which each component is independent. There is no constraint. Instead, in place of the mass-shell invariant $\left(mc^2\right)^2 = E^2 - |𝐏|^2 c^2$, one has two invariants: $|𝐏|^2 - 2mH$ and $m$.
To create the 11 dimensions of the Relativistic version of the Bargmann group out of the 10 dimensions of the Poincaré group requires making $(H,M)$ independent and this, in turn, requires disassociating the difference $(E-H)/c^2$ from the rest mass $m$ and generalizing it into an invariant $μ$, whose non-relativistic limit will be the mass $m$, too. Then, writing $E = H + μc^2$, and defining the internal energy $U$ as the extra contribution to $μ$ required to give you the rest mass: $U = (m - μ)c^2$, the mass shell invariant becomes:
$$\begin{align}
|𝐏|^2 &= \frac{E^2}{c^2} - m^2 c^2\\
&= \left(\frac{H^2}{c^2} + 2μH + μ^2c^2\right) - \left(μ^2c^2 + 2μU + \frac{U^2}{c^2}\right)\\
&= \frac{H^2}{c^2} + 2μH - 2μU - \frac{U^2}{c^2},
\end{align}$$
or just:
$$|𝐏|^2 - 2μH - \frac{H^2}{c^2} = -2μU - \frac{U^2}{c^2}.$$
In terms of the relativistic mass $M$, the two resulting invariants can be written as:
$$|𝐏|^2 - 2MH + \frac{H^2}{c^2} = -2μU - \frac{U^2}{c^2}, \quad M - \frac{H}{c^2} = μ.$$
And now: the correspondence limit to non-relativistic world is repaired. These invariants are a deformation of the invariants for the Bargmann group, parametrized by $α$ as:
$$|𝐏|^2 - 2MH + αH^2, \quad M - αH.$$
The correspondence arrow is given by
$$α = \frac{1}{c^2}\quad⇐\quad α = 0.$$
The "relativistic Bargmann" group, itself, may then be presented as a one-parameter deformation of the Bargmann group, itself. The Lie brackets that are affected are:
$$\begin{align}
\left\{K_i,P_j\right\} = δ_{ij} \frac{E}{c^2} = δ_{ij} M = δ_{ij} \left(μ + \frac{H}{c^2}\right)&\quad⇐\quad \left\{K_i,P_j\right\} = δ_{ij} μ,\\
\left\{K_i,K_j\right\} = -ε^k_{ij} \frac{J_k}{c^2}&\quad⇐\quad \left\{K_i,K_j\right\} = 0,
\end{align}$$
all other brackets remaining the same; where $𝐊 = \left(K_1,K_2,K_3\right)$ and $𝐉 = \left(J_1,J_2,J_3\right)$ respectively go with boosts and rotations. I am writing the brackets as Poisson brackets (as they actually are), reserving the rectangular brackets for the quantized version $[\_,\_] = iħ\left\{\_,\_\right\}$.
In all, the parametrized family of Lie algebras has the following set of brackets:
$$
\left\{J_i,J_j\right\} = ε^k_{ij} J_k,\quad
\left\{J_i,K_j\right\} = ε^k_{ij} K_k,\quad
\left\{J_i,P_j\right\} = ε^k_{ij} P_k,\\
\left\{K_i,K_j\right\} = -αε^k_{ij} J_k,\quad
\left\{K_i,P_j\right\} = δ_{ij} \left(μ + αH\right) = δ_{ij} M,\quad
\left\{P_i,P_j\right\} = 0,\\
\left\{J_i,H\right\} = 0,\quad
\left\{K_i,H\right\} = P_i,\quad
\left\{P_i,H\right\} = 0,\\
\left\{J_i,μ\right\} = 0,\quad
\left\{K_i,μ\right\} = 0,\quad
\left\{P_i,μ\right\} = 0,\quad
\left\{H,μ\right\} = 0.
$$
From this also follows the brackets for $M = μ + αH$:
$$
\left\{J_i,M\right\} = 0,\quad
\left\{K_i,M\right\} = αP_i,\quad
\left\{P_i,M\right\} = 0,\quad
\left\{H,M\right\} = 0,\quad
\left\{H,M\right\} = 0.
$$
These could be used in place of the brackets for $μ$.
The representations for this group are the same as for the Poincaré group - except that there is an additional energy term corresponding to $U$. Energy becomes additively-relative, once again, as it is in the non-relativistic case. That's a consequence of re-establishing the correspondence limit arrow with the lifted version of Galilei to a lifted version of Poincaré.
For the ground state $|0⟩⟨0|$, the relativistic condition $⟨0|E|0⟩ = 0$ - which is imposed by the requirements $𝐊|0⟩ = 𝟬$ and $𝐏|0⟩ = 𝟬$ and the Lie bracket $\left[K_i,P_j\right] = iħ α δ_{ij} E$ now becomes $⟨0|M|0⟩ = 0$. Now, you can also see why the constraint on energy disappears in the non-relativistic case $α = 0$. Instead, it becomes a condition on the mass $\left[K_i,P_j\right] = iħ δ_{ij} M$ - which is actually what it was, in the Relativistic case, in the first place!
Instead of $⟨0|E|0⟩ = 0$ telling you that the vacuum energy is zero, now it's just telling you $⟨0|M|0⟩ = 0$ that the relativistic mass is zero. The train collision has been diverted, because the rails have been disconnected and separated and the trains zoomed right past each other on parallel tracks. The time translation generator is not connected with $E$ anymore, but with $H$, and there is no constraint on $H$! It doesn't appear on the right-hand side of any Lie brackets. Instead, you get $⟨0|H|0⟩ = ⟨0|U|0⟩$.
For the vacuum state, the "internal energy" $U$ plays the role of vacuum energy. All of the Poincaré representations have an extra energy $U$ under the extension of Poincaré group to the "relativistic Bargmann" group.
For ordinary slower-than-light bodies, it provides an additive contribution to the rest mass $m = μ + αU$ - relative to the invariant mass $μ$, which compensates for the non-additivity of $m$ in Relativity. As you'll recall, when you take the sum of two bodies with respective rest-masses $m_0$ and $m_1$, then the total body's rest mass $m > m_0 + m_1$ will be greater than the sum of the component rest masses, since part of what went into $m$ was the kinetic energy of the component bodies by virtue of their motion around the center of mass of the combined body. So, even though the invariant masses are additive $μ = μ_0 + μ_1$, the rest masses need not be, and their non-additivity is what $U$ compensates for, even with $μ = μ_0 + μ_1$.
So, another feature that arises from the extension of the Poincaré group is that a distinction is drawn between an invariant "bare" mass $μ$ and the rest mass $m$. For the reason just explained, it is a necessary feature for composite bodies; but there's no reason to assume that the same can't also be applied to elementary bodies - to particles. So, it may actually provide a means to encapsulate the distinction between "bare" versus "dressed" mass in quantum field theory.
Pay careful attention to how the "central charge" $μ$ appears in the Lie brackets in relation to the deformation $α$. At $α = 0$, it is a (non-trivial) central charge that provides the extra 11th dimension that turns Galilei into Bargmann. However, at $α = 1/c^2$, it does not provide the extra dimension for the lifting of Poincaré but stays intact, when dropping back down from 11 dimensions to 10! Instead, it's $U$ that's filtered out. So, even though $μ$ is a "trivial" central charge to the extension of Poincaré, it is not trivial. The reduction to Poincaré does not consist of zero'ing out $μ$, but constraining $(H,M)$, removing their independence by tying them both to $(E,𝐏)$ ... in such a way as to force $U = 0$.
The reduction from 11 dimensions to 10 hits the extension by the central charge diagonally, not head-on.
The absence of vacuum energy in the Poincaré representations is therefore directly tied to and expressed by the reduction condition $U = 0$, itself; and this shows in stark relief precisely what the deficit is in Poincaré that forces the condition. So, you need the 11th dimension to get vacuum energy.