Is the short answer. I've never understood the taxation is "theft" argument. Services are rendered and you pay for that. If you don't wish to pay for it you can either not engage in a taxable activity or you can find another service provider. Frankly, not paying your taxes is more akin to theft as you are receiving the benefits without paying.
As a note, this is all theoretical as a government that is oppressive or not providing the services they say they will is obviously stealing. The above assumes a properly functioning government agreed upon by the citizens.