AnyDVD removes the encryption for you. If you right click on the fox icon on the bottom right, you also get an option to rip to the hard drive. This will copy the entire movie to the hard drive.
It is also possible to use other ripping programs with AnyDVD. I regularly use DVDShrink with AnyDVD in order to choose just the main movie and rip it alone, without menus or extras.
Most of the time you will have to reduce the size of the movie in order to fit to a single layer dvdr. DVDShrink can do this for you, though I normally rip with no compression and then use DVDRebuilder to reencode the movie.
Actual burning to disk, I use ImgBurn. It can burn dvd video files or an ISO, depending on which form you saved the compressed movie. Look through the guides at the Imgburn forum for burning dvd video.