Well taxation is only partly theft in my eyes. Hospitals, schools, etc don´t build themselves and don´t pay for themselves. But expenses like Politicians, Military, etc etc could be cut completely imo. Problem is we can´t choose what we wan´t to pay for and what we don´t want to pay for. I also do feel overcharged by my government. It taxes my income, it taxes my day to day grocery shopping, it taxes me if i buy something and if i sell something or if i win at gambling. They tax my "wealth" even after I died.
So yes taxation is theft, but it the same way SOME taxation is necessary. But not the whole life should be taxed by our governments! I´m sure blockchain technology will change that!