Heat pot/deep pan over medium heat and add oil. Add carrots, onion, celery, and salt and saute until translucent or slightly golden, ~8-10 minutes.
Add lentils, tomatoes, and broth and bring to a boil. Lower to a simmer and leave until lentils are cooked through, ~25-30 minutes. Mix in pepper, yogurt, and vinegar and continue to simmer.
Heat large skillet over medium-high heat and add 1 tablespoon oil. Add zuchhini noodles and saute approximately 5 minutes.
Divide zucchini noodles into 4 bowls and spoon lentil Bolognese on top.