In addition to the Handbrake suggestions, you can use HandbrakeCLI if you're on a headless media server.

Before, I used to use dvdbackup then ffmpeg for DVD ripping.

I found HandbrakeCLI did a better job, though, of handling errors in the stream which seem to be much more common in DVDs than CDs.

Or, more likely, the defaults were just more idiot (me) proof.