My previous post was if you wanted to play it in your DVD & would give you the video.
For just audio I would still use the YouTube Downloader.DL the .flv then use Super to convert to Audio only.
The YouTube Downloader will convert to a .mp3 but Super gives a lot more control of the conversion.
This is all freeware above.
To rip music from web radio stations (which i seldom do)I use StreamRipper with winamp.Also freeware.