It probably isn't air - its hydrogen, the gaseous product of corrosion caused by the water in the system attacking the inside steel surfaces of radiators. The other byproduct is black sludge - iron magnetite, that collects at the bottom of the rads, impeding wtaer flow (eventually). Over a number of years (15 perhaps) , the rads all eventually corrode through from the inside.
Have you got corrosion inhibitor in the system, to the right concentration? If the answer is no and you want to know how to install the stuff, post again.