If you want to live in a civilised country with the benefits that come with it, then there is no alternative to tax.
That is the price you pay.
So, no its not theft.
There are a lot of "civilized" countries with zero income tax, such as the United Arab Emirates and Kuwait. That said, I agree that it will be hard for normal countries to abolish the taxes, as they don't have any other source of revenue. But I would prefer less taxes and lower government spending.
Two countries in the world is a lot? The United Arab Emirates has thus become the center of world trade. They have enough money from oil to afford the luxury as the abolition of taxes and duties. I think this system is rather an exception to the rule. Taxes should be, but the cost should be strictly controlled. We do not see because all of the government abuse of our money.