I don't think we should take people's property at all.
Resources already exist.
Goods and services come from labor.
Money is created with a key stroke.
1. The supermarket in a community closes down
2. All workers are out of a job
3. Workers form a solid cooperative business plan
4. Government approves business plan and grants cooperative initial operating costs
5. Supermarket functions with workers sharing the small profits on top of their fair pay.
Notice the supermarket was not stolen from anyone but now the workers own it. Steps 3-5 could be repeated for new businesses. Steps 1-5 could be repeated when businesses a community needs close down.
Eventually you end up with an economy that addresses the needs of the community and is completely owned by workers who also live in that community.
Resources already exist, and they already have owners. Goods come from NATURAL RESOURCES as well as labor. You can not print resources no matter how much money you print. Also if you knew anything about economics you would know simply creating new money results in inflation by debasing its buying power. This is nothing but a form of theft from current note holders of the currency you create more of.
You claim you are for protecting people's property rights, yet you advocate for an ideology that will do so with zero explanation of how they will come into control of these resources without stealing the rights of others. Some one still owns that supermarket property before the workers magically acquire it. If you are suggesting they pay for it, then nothing in your hypothetical is prevented by the current standing system of Capitalism. Not only is Socialism not needed, it is really just what everyone else calls "Capitalism".