You are in a contract with the government. Maybe an involuntary one, but still a contract. This contract gives you rights and benefits, but also obligations and responsibilities.

When the government does not uphold their end of the contract, or changes it to essentially only obligations for you and no benefits, then it becomes extortion. Still not exactly theft, but closer to what you mean.

However, the vast majority of people get benefits that far outweight the costs of the contract. Safety, transportation, education, utilities, etc.