UDF mode is usually used for rewritable disks that you intend to overwrite or erase.
The normal iso standard is good (better) for everything else (and probably this too).
The standard burners and readers will handle this for you, without any intervention from you.
Stick a udf disk in and it appears on your dektop... honestly, just try these things!
Read the man pages like I told you: they have examples at the end.