Handbrake would be the easiest. For commercial DVDs, you just need to addlibdvdcss-2.dll in your Handbrake install directory and it will bypass the copy protection.
For the container I'd suggest going with MKV. For the video codec you can go with x265 (HEVC) with a CRF/RF of 22, which should give you a good balance between quality and size. For the audio you can copy it as-is.