Best Format to Use

I am trying to copy my DVD’s onto a hard drive and play them back using the WD TV media player. 

1- I would like to copy them to a single file to ease confusion of which file to select for play back.

2- When I select the file/movie to play, I want it to act as if I had just inserted a DVD.  In essence I want to select a file and have it go to that movie’s root menu with all functionality of that menu (scene selection, special features, etc…)

I’m using DVD FAB as my ripping software.  Is there a better program to use to get my desired result.

Rip to ISO, the current beta supports menus.