how do I initialize a DVD using Apple super drive?

Typically, this message indicates that the DVD needs to be formatted before it can be used. Depending on how you want this DVD to support, you should have three format options: MacOS Extended (Mac only), ExFAT (Mac & Windows), & UDF. The last one supports larger files and has better cross-platform compatibility.

FYI, CD-R, CD-RW, DVD-R, DVD-RW, and dual-layer DVDs are all supported.

One thing to consider, is that a number of folks have reported compatibility issues with the Super Drive and newer M-series Macs. In most cases, the issue is due to not providing adequate power to the drive. It doesn't sound like you are having this issue, so I just wanted to point it out.