First, you have to ask yourself, why we need country?
What is the purpose of country, government, schools, public services?
If you agree that we need all this public services than you have to accept simple fact that someone have to pay for it.
What about health insurance?
Military?
Are you really so naive to think that we, in today's world, don't need military or that anyone can afford doctor?
What about unemployed or homeless people?
Simple truth is that we need government and we need taxes.
How to organize public services and taxes, it's another question and there is no perfect answer.
Sure man, let's say we do need the government to do all of these things, but this isn't the question. The question is "Is taxation theft?", personally I feel government should have some responsibilities such as maintaining a courts system, police, fire, national defense and I believe these should be achieved by some type of taxation. However, I still think taxation is theft, regardless how noble the cause, taking money from non-consenting people is theft, correct?