The question is rather: Is taxation
justifiable theft? A necessary evil? Libertarians tend to argue that it's wrong regardless the intentions. Taking someone's property without their permission is unethical, no matter how good you want to do with it. Others, who support
social contract theory, argue that it's necessary and should be seen as "voluntary obligation".
I think that taxation is a necessary evil, it might look like the authority or government is reaping people off from their earnings but without tax it will be difficult to run a government. If the revenue that is collected from taxation are put into good use them it is worth collecting. There are jobs in the society that are very essential but doesn't generate income by themselves, like the armed forces, provision of basic amenities like good roads and having emergency funds. If taxes are not collected to fund these important aspects that I've mentioned, it will be very difficult for a society to function well.
A business person and someone that is rendering services and being paid, either as salary or profit, if you look at it critically, the profit and salary can somehow be likened to taxing the employer and customers. Any money that you earn to better your life and that of your family is almost the same as the taxation that governments collect to run the economy.