As far as I'm aware, it's perfectly legal (in America) to make copies of media for your own use, even if that means removing the DRM.
None of that matters because nobody is going to try and litigate against individual disc rippers, they are going to litigate against the people who actually wrote the ripping software, and DMCA 1201 is far more harsh to them. There is basically no exception to the prohibition on DRM-breaking tools - I'm not even 100% sure that, say, verifying each individual's usecase before letting them break DRM is enough to escape DMCA 1201's ire.