DVDXCopy sucks unless you have the platinum edition or whatever (the two versions under that either can't copy menu structures or don't allow you to adjust compression levels, depending on which one you choose). It's also expensive and clunky. The only advantage is that it has a built in decrypter. But you don't need that

Your best bet:
Use DVDdecrypter (download it free&legal at
www.dvddecrypter.com) to crack *any* security.
For burning you can use pretty much anything but I've always found Pinnacle CD&DVD to be by far the best compromise between ease of use, options and image quality.