In the U.S. the majority are Republicans or Democrats. Some are socialists, Greens. All of these parties expect government to work for the people. All expect taxation to be used to pay for programs. They voluntarily choose their political parties and candidates on election day. They vote for taxation. No theft in these cases. Taxation is their choice.

@UnKnown
I hear complaints about taxation all the time. The false indignation spewed by the conservatives. The propaganda that conservatives attribute to taxes. The only thing wrong with taxes right now is that the rich don't pay their fair share. they claim that they pay most of the taxes but the fact is they hardly pay any. Tax shelters, fraud, and several loopholes make sure that the rich don't pay very much if any at all.
Taxation is a necessary fact about any and all governments. It doesn't matter what you as an individual wants specifically for your taxes to pay for and what not to pay for. Your taxes are distributed according to how your representatives dictate. Your only recourse is to vote for the representative that you think will have your best interest.
Now for your wild Libertarian bent. It is unrealistic and downright selfish. Public schools, roads, and many things need to be paid for by the general public to benefit the general public. Privatizing everything is well just childish.
I live near Dallas. We have a ton of new toll roads. Roads that have actually been paid for by taxes. All toll roads do is keep people of little financial means off of them. It is nothing more than discrimination and denying opportunity to those in need. The tolls are collected and pocketed by companies in Holland who contribute huge political contributions to corrupt conservative wackos like Rick Perry.
Let's take the George Bush Tollway. Gas tax, tire tax, battery tax, license fees, inspection fees, tag fees, city county and state property taxes all paid for that highway. But Gov. Perry decided to make it a tollway.
Even the road was paid for ten times over and in ten different revenue streams, they made it a tollway. Where does the money go? To a Holland company that makes large political contributions to GOP candidates.
That is one example of libertarianism in action. Every experiment they have tried along a libertarian ideal has failed. Mandatory privatized schools in Pennsylvania, privatized prisons, toll roads. All have failed and reek of corruption.
So pay your taxes and be happy to do so, because, without the collective bargaining that a single payer system to pay for public needs, you'd pay a great deal more and get less quality for your buck.

I absolutely disagree Harry.
As far as the founding fathers go they didn't want a standing army either so many things had to change to meet a dynamic society. I am opposed to toll roads. They are by their very nature a form of discrimination. Instead of toll roads, we should build public transportation systems that benefit everyone including the environment.
Private schools are a form of discrimination if they take money away from public education. Private prisons for profit are corrupt. I have seen every libertarian idea put into practice fail miserably. they are either corrupt or discriminate.