So, use CloneDVD to rip to harddisk (disabling compression) & Shrink to compress. Very simple, and allows you "pre tuning" of titlesets in CloneDVD.
I just tried a CloneDVD rip to Harddik, as suggested, and when I try to use Shrink, it can not compress the resulting files beyond 5.657GB -- that's a bit more than will fit on a single layer DVD. Try it and see what happens to you.