One could also just use cdparanoia and lame (for example) to do the job; cdparanoia to extract the audio from cd to wav files on disk, and then lame to turn those wav files into mp3. There are other programs of course, but those two I use when I need (rarely nowadays, I just use cd players).
extracts the whole disk, putting each track into a separate file.
Code:
lame input.wav output.mp3
and that's it. Of course there are various options to tune if you like..and to get it handy, you can write a small script around these two to have the procedure automated and maybe more.
Of course not everyone loves the command line way
but that works even if you don't have a graphical user interface, and it doesn't ask you to configure anything.