A CD can only store 16-bit, 44.1kHz data. Being "mastered in 24-bit" does not change the fact that the disc can only store 16-bit data.
An HDCD can store 20-bit, 44.1kHz data - but it will be ripped as 16-bit by default.
You then need to process the file to extract the extra 4 bits. (though it will be stored in a 24-bit container) This is to maintain compatibility with regular CD players.
SACDs are often hybrid discs with a 16-bit, 44.1kHz CD layer, and a 1-bit, 2.8224MHz SACD layer. (DSD)
Computers can only read the CD layer - the only way to rip the SACD layer is to use a hacked PlayStation 3.