I also print PLA on blue painters tape. Some people say heat the bed, others say don't heat the bed. On small-ish parts, 25mm square or less, I don't use any bed heating and normally don't have any problems with print bed adhesion. On larger parts where the print head travels more than 50-75mm of linear travel before the next filament is laid down, I've found that with my printer I need to heat the bed(I use 60°C) - otherwise no matter what I do the first layer won't stick. After you get the 1st layer successfully stuck down, the rest of the print is usually a piece of cake. When I'm printing something where quality matters, I'll watch the 1st layer as it prints. If it screw ups, I'll abort the print, fix the problem, and re-print.
Of course now that I think about it, I've got a cold drafty old house that was built in 1890 and my printer is sitting in the corner next to 2 outside walls. That could explain some of my 1st layer problems, maybe not such a great location for the printer? YMMV - depending on your printer. Your printer may or may not respond exactly the same way as somebody else's machine, even if the machines are supposedly identical. I print at 215°C for the 1st layer and 210° for the rest. I know this is supposedly too hot, but if I go much lower I can hear the extruder drive gear popping as it slips and grinds on the filament. You'll find that you'll print a lot of test cubes. I made mine look like dice, that way I know how the cube was oriented when it was printed - helps when troubleshooting problems with an axis. Everybody at the office that wanted any has 3D printed dice on their desk.
Have fun with your machine and don't expect flawless prints right away - maybe never. After all, these things are just glorified hot glue guns.
Don