You’re actually asking two different questions.
There are tons of good rippers out there but, like with anything else, you don’t want it to be a Swiss Army knife and also be a good DVD to AVI convertor (not only that, but the Live prefers the MKV container anyway). So I’d suggest you first consider getting the gold standard of rippers, AnyDVD (or AnyDVD HD if you ever want to do blu-rays). That will handle anything you throw at it.
Then you next need to consider putting that into the right container (again, MKV). MakeMKV will do that, and it’s freeware AFAIK. For me, I always compress so Handbrake (also freeware and superb) does the trick. But if you don’t need compression and want menus just rip to an ISO (and AnyDVD will do this just fine).
