By far the easiest and best way I have found to copy a DVD to 1 DVDR/RW:
1. Use DVD decrypter to copy the DVD to you HD
2. Use DVD2one to reduce the size of the original to under 4.5gb
3. use any DVD recording software you want to create the DVD
This will remove all menus and all but the selected language and angle.
It is oh-so-simple, read this guide:
http://www.vcdhelp.com/forum/userguides/141024.php#dvd9
There are instructions for single and dual layer DVDs
Note:
The tutorial suggests only extracting the main movie, but you can just extract the whole movie onto your HD, then when you use DVD2one, it will remove all unnecessary content.