Well, if this was the case no one on the fucking planet would pay taxes. The threat of force and violence is the reason anyone allows themselves to be stolen from. The entire system is immoral and unethical and is based on retaliatory violence.
Not everyone sees it quite that way. Some believe it is possible to have some form of government and taxation and still be free to pursue their own goals.
In other words it is possible that people can voluntarily agree to pool resources for the common good.
Of course this takes a certain psychological posture within that society to have that happen peaceably, and life on earth seems to entail all sorts of ebbs and flows with regard to freedom.
But,yes, probably there are many examples today of the use of coercion rather than people voluntarily pooling resources.