DVDFab is a nice program that I use to rip my dvd-5's and 9's.
It also now support blu-ray, although I have no experience with ripping blu-ray.
DVDfab you can use free for 30 days, then purchase after if you chose. Can do blu-ray, dvd5,dvd9, it has a mobile option, etc.. It has many modes, particularly MAIN MOVIE, which just copies all the video/audio of the actual movie, removes warnings, previews, etc.. It's nice if the actual movie itself is less than 4gb I can put it onto a dvd5 instead of a dvd-9.
I'm sick of buying so many single and dual layer dvd's that I'm going to go the htpc route
Another program you might want to look into is imgburn.
DVDfab does it all, removes protection, rips and burns. IMGburn just burns and builds or create files and a multitude of options in that respect that I never get into.
You can rip the dvd into just the video_ts folder or make an iso with it, whichever you prefer. With dvdfab it will tell you when you rip/copy/etc. the quality it will be.
I love dvdfab because it is so easy to use and keeps the quality intact 100% if thats what you chose.
and I use vlc media player now and then and it plays my dvd .iso's.