I would assume you're backing up your personal collection right? Talk of piracy is against the forum rules. I will assume these are DVDs that you own. Handbrake is decent, but I prefer Mactheripper and DVD2oneX2 to back up my collection. I also have Dvdremaster. They all work well. Give them a try and see how they do for you.
I don't like iDVD too much, I find it will bulk up the size and what not. Use Burn, DVD2oneX2, DVDremaster, Toast, etc. to make your burns. They will burn better and you'll loose less information.
I'll generally rip the disc in Mactheripper and then import it into DVD2oneX2, you can then compress it the DVD to fit on a single layer disc, or you can remove content from the disc as well. I do this when going on a trip or something, that way I don't fudge up my original, or if they get lost or cracked, etc.. I don't have to worry about it.
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My post is for informational purposes only. I am not condoning piracy, I would urge you to purchase your media instead of stealing it.