AnyDVD + Nero is really one of the better methods. Or at least has been for me for just copies.
You can copy the entire DVD or just the Main Movie.
However, Neros default settings are meant for speed, not quality.
I would use: 2 Pass Encode, Best Quality in the encode options. Also, for De-Interlacing settings, have it keep original settings and framerates.
Also, for the Copy setting after importing the DVD, I would check the Adv. Analysis.
What I would do, is use AnyDVD to Rip the Entire DVD to the Hard Drive, as a folder structure NOT a ISO. Then Imoprt that folder structure as a DVD with Nero.
Although this isn't really needed, you'll find it makes it easier for Nero to work with, and much faster as well.
Nero will also tell how large the DVD is. If you use the appropriate blank, single or dual layer there will be no re-coding needed and the rip will be a perfect copy. Or, you can let it recode and shrink it to fit a single layer disc.
It dioesnt matter if you keep menus or not. Personally, I just keep the main movie only.
This would be the best method IMO, since you already have the software. Its how I make 1:1 copies myself.