Yes, but you described it perfectly. It's rubbish. My hypothetical version just makes it more out in the open, where yours conceals it in legalese and societal norms.

Taxing is a concealed means of stealthily plundering from those who don't know you personally, and who are separated by many persons; and when questioned about the acts they commit, summarily state that they are legally empowered by their "authorized agents" whose so-called representatives of the people were voted into office in some "official" manner to create legislation purporting to protect the best interests of the majority.

All in all, it's merely a convenient way to separate the thief from the theft.