In the US: you are legally allowed to have a backup copy of any media you have (digital -> physical, physical -> digital, or any other match up). Since you own the physical copy of these movies, this means you're allowed to have the digital one as a backup.
Your physical disks are encrypted, and breaking said encryption to make a copy is technically illegal. Downloading the files from somewhere is not illegal, but sharing them is.
With all that said, if you own the disk, and either download or torrent without seeding, you're well within your rights legally.
Your other option is to use Handbrake or another disk ripping software, along with dvdcss or aacs and rip your disks yourself.