Taxation IS theft. If you take money from someone at threat of punishment, it is theft. It doesn't matter what it is spent on.
By living in a society, you agree to pay taxes to support the government that protects the society. It's the social contract. The analogy you're looking for is breaking a contract that stipulated you had to pay money, not being stolen from.
We were never given the chance to provide for our own protection, and we were never allowed to sign said contract. A contract is only valid if signed by all parties involved, and therefore government is illegitimate and taxation is theft.
