There is only one way: compression. DVDShrink will do the work. Let's talk in GB terms. If the DVD you want to copy has more than 4.7 GB (dual layer), it needs compression if you want to transfer it onto a regular DVD 5 (4.7 GB).
If you have Nero 7, one of the applications is Nero Recode, and that is like a DVDShrink twin brother.
AnyDVD, like any other decryptor, will be necessary in the background only if the original DVD or source has copy protection.