Taxation is necessary for a government to function effectively, which in turn allows the government to serve its people. In short, taxes are payment for governmental services we otherwise take for granted.
Just because taxes may be necessary for a government to function does not mean they are not theft. The payment analogy is also a false analogy because I do not choose which government services I buy and which I do not. I also do not consume many of the services of which money is taken for.