Are you wanting these movies to play on your computer or iPod? If just viewing them on your computer rip in Normal, MP4, H264. Much faster than iPod presets.
Actually, while it is legal for someone to make a backup copy of their legally purchased media, it is ILLEGAL under the DMCA to bypass or break any encryption [DRM].
There is no one best. Not all of them work the same on different DVD's. So you really need multiples. Get RipIT, Handbrake, and Fairmount. Only RipIT costs money.