Taxes are not theft because you (ostensibly) pay them in exchange for services, as part of the social contract you live under with your fellow citizens.
Paying for services you don't want or need is frustrating, but a state provides redress (voting, lawsuits, petitioning the government, etc.) or you can overthrow the government and define a new social contract.
It is not forced unless you are not free to leave the social contract by abdicating your citizenship and/or leaving the state.