I'm a PC user, so I can only give advice from that perspective.
It really depends on how important preserving quality is to you. If you're a person who just likes to listen to their music and doesn't care about having perfect quality, then I would recommend using EAC and LAME to rip to mp3. Setting it up for the first time can be a bit daunting, but a google search should turn up lots of tutorials. Bitrate is subjective, but I would recommend ripping them as V0 vbr mp3s, which I find to be the best compromise between sound quality and file size.
If, on the other hand, if you are an extreme audiophile and having a perfect 1:1 copy is important to you, then you'll need to look into the various lossless codecs. My personal favorite is FLAC, but because you mentioned playing it on an ipod your best choice would be Apple's own lossless codec.
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