Boiled down in that narrow scope, yes one could say that all taxes are some form of theft since they use the threat of jail or imprisonment to solicit payment. Although I myself probably wouldn't go that far.

Do I view taxes that are taken against my will through the use of force that go to pay for immoral and illegal military adventures across the globe or to bailout Goldman Sachs and Society General for their losses in AIG CDS investments as theft? Absolutely.

Could some taxes, i.e. taxes used to pay for roads, schools, fire, and police be construed more as "user fees" as opposed to outright theft? Sure.

Bottomline a government closest to it's constituents has to answer to those constituents when they spend their money.

A federal government, when too large, has literally zero accountability when it comes to spending the people's money.

Central planning does not work, this much we know. The evidence is all around us.