Since you already have AnyDVD HD, you can rip most movies in the manner you want using DVDShrink. Have AnyDVD running in the background then open the disk with DVDShrink. Let Shrink analyze the movie, then hit ReAuthor mode. You will see a list on the right side of the window. Look under Main Movie and drag and drop the largest title from that list over to the left side of the window. That gets you the main movie. Now hit Backup.
In the window that pops up set your output to an ISO file. I also always use Deep Analysis for best quality. Click ok and you’re off and running.
This is all more difficult to explain than to do. If you want a step by step slideshow of the process, go to dvdshrink.info and look at their guide: http://www.dvdshrink.info/re-author-v3beta5.php This is for an older version of Shrink than the last available one, but still works fine.
You can download DVDShrink from this link: http://www.cdfreaks.com/software/Copy-DVD-Movie-Software/DVDshrink/DVDShrink.html