If you don't mind lossy then go for "Handbrake", quality of the rips are pretty much spot on. It's got more configurations than you can shake a stick at so you can tailor it completely for your needs.
AnyDVD helps to remove the copy protection on DVD's to allow you to "Back them up", (notice the quotes.) I don't condone piracy but if anyone is not happy with the "AnyDVD" description I'll gladly remove it.
Anyway, with my Optimus IV I can convert a 1:30 film in around 25 mins with quality being on par with the original DVD, you can't really make it look any better than a DVD so there really isn't a need to try.