The US Immigration and Nationality Act places an automatic bar on anyone who has committed an act of 'moral turpitude' (which includes all types of theft) from entering the country. Even taking a single sweet from a pick-&-mix display counts as 'moral turpitude'.
There's an exception made for people who committed a SINGLE act of moral turpitude before the age of 18 AND where the offence occurred (or any prison sentence ended) AT LEAST 5 YEARS before the date of a visa application.
So if you've ever been convicted of (or simply cautioned for) any other offence of moral turpitude (such as being cautioned for shoplifting when you were 10 years old) you will ALWAYS be subject to that automatic ban. If the burglary offence was the ONLY one of moral turpitude then the automatic ban ends FIVE YEARS from the date of your release from prison (not from the end of your actual sentence, as the licence period doesn't count).
http://www.state.gov/documents/organization/86942.pdf
So at moment (because less than 5 years has expired) you're still subject to the AUTOMATIC ban. If you were to apply for a visa the US Embassy MUST turn down your application because US law says so. However you then have the right to have your application forwarded to Washington as an 'application for a waiver of permanent ineligibility'. That process tough is EXTREMELY LENGTHY and you'd almost certainly be turned down anyway. (Someone posted on here to say that their partner had to wait 15 months to hear the result of his application, only to be rejected because of two convictions for driving without insurance).
So, if your burglary offence was the ONLY one of moral turpitude, there's no real point in applying for a visa until the 5 year period is up. (You won't then have to go through the long process of applying for a 'waiver of permanent ineligibility' but the US Embassy might still refuse you a visa anyway, purely on discretionary grounds. Your visa application will still involve getting hold of a copy of your police record and attending an interview at the US Embassy in London).
If you've been convicted of (or cautioned for) any other offence of moral turpitude then you'll ALWAYS have to go through the really long process of applying for a 'waiver of permanent ineligibility'.
In summary:
Until 5 years are up, forget it. You won't get a visa.
After 5 years are up (with no other offences of moral turpitude recorded against your name), allow several months BEFORE BOOKING ANY TRAVEL for your visa application and don't be surprised if you're turned down until perhaps 10 years have passed.
After 5 years are up (with one or more other offences of moral turpitude recorded), allow at least 18 months BEFORE BOOKING ANY TRAVEL and don't be surprised if you're NEVER able to obtain a visa.