No it's not theft it's a payment you make for the privilege of living in a civilized society.
If you don't want to be taxed at all, then your free to move to the jungle where there are no taxmen, but also no roads, schools, firemen, police, hospitals, etc etc.
I'm not a communist, but I tell you what, if my house was on fire I would not want to have to check if I had paid my
subscription to the fire-brigade service before ringing them up and asking for their help to save my property from my
bad luck.
People who want to live in a society and contribute nothing towards it but still want to be helped by that society in all
the myriad ways that society helps its members out, are some sort of selfish scumbags IMHO.
If I don't want it, but am forced to pay it, it is a tax. That's robbery.
Look at Brazil and many African governments to see that there is taxation in the jungle.
If I and a bunch of other people don't want government services, why should we be forced to pay for them. For example, those stupid roads are in the way of the rights-of-way so that I can't use the rights-of-way without having to travel on the stupid roads. And the dumb cops are worse than the crooks at times, but seem to be almost immune to prosecution. Stop taxing me so that I have enough funds to buy decent services, and the services I want... not the services you and a bunch of government jerks want me to have. What you and government are promoting is robbery.
Build a concrete house, and you won't need a fire brigade. What need do I have of a fire brigade when my house is concrete and I have my personal fire prevention installed? Why are you charging me through taxation to pay for your lack of wisdom in building your house?
I want to live in a society that buys what they want, or donates to help others... not a society that steals my money property from me.