How do I get a high quality DVD rip?

I have recently started using KODI as I am planning on backing up my entire DVD collection on backup servers. However, I notice that every time I rip a dvd (I have tried Handbrake, Clonedvd2 when experimenting with rips), I notice that the quality is poor and not up to snuff with the quality of the actual DVD. What program should I use to properly rip DVDs so that I can enjoy them without the picture looking pixel-y and washed out?