Doom 3 uses safedisc copyprotection and you need to select the safedisc profile in the reading options. There should be errors at the start of the disc but this is part of the protection on the disc. These are between sectors 200 and 10000 (if I remember correctly) and the rest of the disc should rip without errors.
After you have made a copy or image of the disc, then test the disc by mounting it in a virual drive, like the one available in alcohol 120% or deamon tools. If the image works then weather or not you can make a backup on CD or DVD is up to the ability of the dvd or cd drive to cope with the protection.