Just my opinion, I've tried them all. I use CloneDVD with AnyDVD, these are not free programs, total cost for both is 59.00 in a package deal. It's easy to use, AnyDVD is a driver that works in the background and removes the copy protection, CloneDVD is the transcoder and burner in one. This is the only program that I am aware of that you can have movie only without all the rest of the crap, and by merely 1 mouse click you can add or remove the menu, no rocket science needed her folks. I like the feature for chapter selection. It's help file is very good and suggest you read it before attempting to burn.
Both companies are outstanding with upgrades, especially AnyDVD. If a new copy protection comes out, an upgrade is available in hours to remove it. You will see James from the Slysoft team on the AnyDVD message board to help with problems.
There are many choices, try experimenting with several, some are free, others offer trial versions, you can then decide which one is best for your needs, abilities, and what you feel comfortable using.