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Most DVD players support 480p24 by default. If the original video was shot at 24 fps (actually 24000/1001), you should preserve that if possible. Using pull-down can introduce things like "motion blur" if the TV and DVD don't agree on which one should convert the frame rates.
In mencoder, by the way, you want to use "-ofps 24000/1001" to set the output frame rate to 24p. Don't use the 23.976 value as that has rounding error. mencoder knows what to do with 24000/1001.
Oh, and on PAL machines the maximum frame size is 720x576; for NTSC (the Americas and Japan), its 720x480. As for why you can't preserve the original size, the answer is simply that it won't fit on a "standard definiition" television (NTSC, PAL, SECAM). When I've given my DivX-compatible SD DVD player a file with a resolution greater than standard DVD sizes, it tells me the format is invalid and refuses to play it.
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