If it copies, it copies. The only thing to check if it's 100% correct if you already had made a checksum or check before copying it on other media. My best bet is indeed to generate checksums (crc, md5, etc) of the media, copy the data, then generate checksums of the copied media and check if they match.
One of the best copy tools is Total Commander. If these tool can't copy the data, almost nothing can.
If you want to copy as much as possible i suggest using Unstoppable Copier.
For new backups you could use MD5, but if you are working with archives i suggest using QuickPar which both checks and offers great repair options. It's like having RAID5 on your archives.