I tried several converters and rippers, but the two programs that work best for me are a shareware program called MakeMKV for unlocking the disc and making an MKV file, which is then handed over to HandBrake. Handbrake is extremely flexible and has a LOT of really obscure setting choices, so I recommend browsing the web for settings that others have had success with. Almost all of my conversions are for high definition home viewing, but Handbrake offers many compression options to port your videos to your phone or tablet.
When you search for reviews on this sort of software, some of your prominent results will be those "top ten" review sites. Don't trust them, they don't know what they are talking about. Or they are disguised ads...