Personally, I do feel it is theft, I never consented to any taxation. I feel that this video helps explain the video quite well https://www.youtube.com/watch?v=PGMQZEIXBMs
Taxation is not theft. Every profitable venture should be taxed in order to generate revenue for providing basic needs of society. If we are not taxed, we might abuse the privilege of profiting thereby making the society thirsty of the benefit of government.