Consider the following cases, and imagine you are the victim:
A man points a gun at an innocent person and demand money under threat of death. This is taking property using the threat of violence. This is theft.
The mugger promises to give a small portion of your money to a homeless person, while keeping most of it for himself.
The mugger promises to give some to a homeless person, and some to a local farmer to support locally-grown foods. He still keeps a portion for himself.
All the residents in the neighborhood were asked, and about half (55%) of only those who responded want to have this mugger stand on the street with a gun to fund help for the homeless man, the farmer, and himself.
The mugger with the gun starts wearing a suit, paid for by his share of the wallets he takes.
The suit-wearing, voted-on mugger uses part of his share of the money to hire a different man to point the gun at people.
The original mugger rents an office while the hired man stands on the street with a gun.
The newly-hired gunman starts keeping his gun hidden, and instead just says "Give me your money, or I will kill you with the gun in my pocket." He shows the gun to anyone who says no.
The original mugger (in his office) makes papers and gives them to the hired gunman, which he hands out to people. The papers say, "You do not need to give this man your money now, but you must provide your address and annual income and then you can be on your way. If you don't send three months of salary to me every year, this man with a gun will visit your house, and kill you."
The man in the office changes the note. He removes "and kill you" and changes it to, "take you from your home, place you in a cage away from your family for years, ruining your career. BUT, if you resist being put in the cage, we STILL reserve the right to kill you if we decide that is necessary."
Identify the point in the story when it stops being theft and becomes "taxes."