I use Exact Audio Copy to extract music to my hard-drive. As far as burning software...I have Nero, Musicmatch Jukebox Plus and a couple of others.
I have not found any to be better..all very good as far a the burn goes. The free ones I have tried are also good although slower and lacking some features of the PAY types.
Extracting would seem to be the most important aspect and burning more a matter of (ease of use). Musicmatch Jukebox Plus comes with free lifetime upgrades and is easy for me to use so I use it the most...plus, it's also a Jukebox.
Dave