EAC (exact audio copy) is the best there is, hands down. When using the LAME mp3 encoder plugin at VBR (variable bitrate) settings, you will get the highest mp3 quality possible. (If thats what your looking for, if not you can use it to just rip them to wave files). We have a guide here on how to install, setup, and use EAC. you can find it in my sig below...
also keep in mind that when ripping a CD or DVD to the hard drive, speed is not the name of the game. would you rather have a quick program that will produce many errors, or a slower program that is 100% accurate?
