If you want the highest quality rip for films that won't fit on a single DVD, use DVD-RB Pro
It basically rebuilds the DVD to fit the bitrate, where Shrink and the rest are transcoders so strip the information they think you won't miss. Thats where they get the speed from. DVD-RB can be a lot slower but has a lot more work to do
It will do the entire DVD with menus, etc, etc or just the movie. Very useful for those episode discs that are usually well over the size of a standard DVD
There is also a free version of DVD-RB, which will do the same basic job and uses HCEnc which is a free encoder, so for nothing you can get the best quality you can get
To rip, I use AnyDVD HD with DVD Decrypter. This combination still works, but AnyDVD has its own built-in ripper for the odd discs thats fail to rip with what I usually use. Have never had one failed rip, unless the DVD is damaged