For ease you can get anything you want. Dvdshrink is outdated, but free and mediocre on quality compared to what you can get these days. CloneDVD or any of those other solutions will work too, but at sacrificing cost.
For the absolute best? Without a doubt Cinema Craft Encoder Basic (pro if you can afford or already have) coupled with DVD Rebuilder Pro. Ripping to HDD can be taken care by Dvd Decrypter which is free and easily obtainable. Any other combo/program will not even come close to the quality produced by CCE and DVDRB pro.
Of course if you don't want to mess with anything while retaining perfection, you can just buy dl disks and be done with it all and not worry.