Imagine you were born and raised in an apartment building. It's a pretty good apartment building, the owner keeps up with maintenance and even provides a small security staff to handle disputes between tenants.
Eventually you grow up and want independence from your parents, so you move out and wander through the building finding another apartment you like. To make this easy we'll say it's vacant, but it doesn't really matter. The point is you move in, and now live in the building.
The landlord comes by and asks for his rent.
(Image from Maricopa County Bar Association)
Do you reply that "rent is theft?" Most reasonable people would agree the owner of the property is due to compensation from the people living there, regardless of how they ended up living there.
This is the essence of taxation. This is why taxation is not theft, the government either owns or is the steward of any property within its borders. You might claim you own land, but to stick with the analogy if you own a condo you're still going to be paying fees to the condo for building upkeep and maintenance.
If you don't want to pay rent to the landlord you cannot live in the building. However when translated to the government level this creates an additional difficulty. As a landlord I can follow a legal process and kick out a tenant who does not pay rent, as a government all the other land (buildings) are taken so you can't kick someone out without forcing another landlord to take them in. Thus a person who doesn't pay his taxes (aka) rent may end up in the worst part of the building (jail) instead.
Another argument might be that, in a Democracy, the people own the government or the land. We can extend the metaphor for that as well, with the tenants rising up against an unjust landlord. Once done, the building still needs to be managed. Repairs need to be made, etc. So the people vote in a person responsible for managing the building, and to keep him from becoming another slum lord hold votes to potentially replace him every few years.
In this case, the building still needs to be maintained, the landlord still needs to set and collect rent and the tenants still need to pay. The only difference is the tenants have more say in how the landlords money is spent.
This is the modern government. Now, as a landlord myself I sincerely hope my tenants never rise up and take over my property... but if they did I suspect they will still charge rent.