Piracy is infringing on copyright. Ripping DVDs is most definitely consider a form of piracy. Although without sharing it, I think a jury could see it as non-infringing personally.
I do agree there is a huge difference between ripping media and downloading/sharing it as far as civil liability goes.
I take some umbrage with calling either ripping or downloading stealing though as it does not deprive the owner of their property. The correct term would be commercial copyright infringement.