Ripping to ISO is my preferred method and I get all the menus and features of the disc. Have only done DVD rips, haven't tried Blu-Ray yet.
For anything pre-2004 use this - http://www.dvddecrypter.org.uk/ Still works and will work on some newer discs even.
For everything else: http://www.slysoft.com/en/anydvd.html You may still run into problems but it mainly with Disney and Sony discs as they seem to change up copyright protection the most.
I will say you will find that one in a million disc that still won't rip no matter what you do though.