As the book says, theft is theft. This does not change when a larger amount of people commit the act, how many people agree with it, or to what degree the thief allows you to 'plead your case' against them. The act of stealing remains the same. Taxation is theft since we are not given the option to not consent.

Sure, if you like paying taxes, go ahead. But that does not give you the justification to take from others against their will to contribute to the things you value above the values of others.