Not all soap kills bacteria, not all soaps work the same
actually, the rinsing, rubbing, and temperature of the water significantly contribute the removal and termination of bacteria even then this is not 100%.
I wouldn't want to touch blood with AIDS virus or Ebola and rely solely on soap and hand washing to save the day.
Some soaps work by raising the PH and there are already a category of organisms called Alkaliphiles which thrive in high PH environments. To my knowledge these cant really harm you as you are a low PH organism.
But yes theoretically if you use the same measure against a bacterium long enough and constantly give it a chance to succeed, eventually it will.