One piece of information that would help us to guide you is knowing whether your priority is compatibility (having these DVDs play back on any DVD player), quality (getting the best picture and sound from your recordings) or space (fitting as many episodes on a disc as possible), because there are some tradeoffs between ease-of-use, recording quality, and space. How easy, expensive, and time consuming this is depends on your priorities.
The major downside of copying the video with component outputs is that it has to happen in real time, i.e. you have to play back the entire file while you record it. Some loss of quality also occurs from decompressing and recompressing the video (transcoding), too. If you use an OTA DVR like the TViX 6620:
you can transfer the original MPEG-2 TS directly to your computer over your network (or using a USB HDD). If you recorded a 480i channel, you could convert the MPEG TS to PS format, put it inside a VOB container, and burn it to DVD without any quality loss and with the benefit of having a standard video DVD that would play in any DVD player.
If you want to preserve HD quality, you would need to either burn the episodes to BD-R (since DVD-R doesn't have enough space to hold more than an episode or two of MPEG-2 video in HD) or transcode the videos to a more efficient format, such as MPEG-4. Recompressing the video to H.264 would let you fit several HD episodes on a DVD, but either way you would need either a computer or a Blu-ray player to view the files on the disc, because a standard DVD player wouldn't understand MPEG-2 video in HD or understand MPEG-4 video at all, regardless of its resolution.