Cosmological Constant must be associated to Classical Vacuum and not to Quantum Vacuum. This is a new idea that involves that Einstein's famous 1917 constant is... Poincaré's 1905 negative (non-electromagnetic) pressure of "ether" (classical vacuum). In order to do that we introduced in Einstein's boost of Special Relativity ("SR") a second universal constant: Milgrom's acceleration (the square root of Cosmological Constant). Lorentz tranformation is an Hyperbolic Rotation and in any rotation, there is... an acceleration. We show that this basic hyperbolic acceleration is a centrifugal acceleration. We transformed, in this way, rigid motion of Born-Rindler into an elastic expanding motion and therefore "SR" into Cosmological special Relativity ("CR"). In CR the relativistic distance is an light travel time distance (Poincaré-Vogt) that takes into account, unlike Tolman double reduction, the relativistic transformation of solid angle (Poincaré's light ellipsoid).