It's like when I say to you "hey, i'll protect you and your family and build you a house" and then you say "no, i don't want that" and then I say "well I did it so pay me." I mean sure you live a better life but you didn't consent to that.
Think about it.
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If we the People don't consent to a tax, then yes it could be called theft. Otherwise, if the government isn't infringing our rights, then we consent to some taxation in order to pay for things that we need and that will be of use for many people.