For me, I've used Audio Hijack for several situations. I've found it to be a very easy app to use. Just select (of add a new) app to "hijack" and you're good to go. When I've used it, the sound quality was fine.
Handbrake looks like an audio geek app looking for another audio geek! Your short history probably explains the lack of user-friendliness and ease of use.
It may be great, but it's interface left me totally confused; unexplained technical terms, little, if any feedback as to what would happen with the various settings, so many settings that one could spend hours trying them all out.
I'm sure it's a great program, it seems to be well supported and does what it's supposed to do. But it's way more complicated than needed for simply saving the audio from a DVD.