Of course taxes are robbery. The purpose of the state is to organize class warfare on behalf of the ruling class. That warfare, like all warfare, will include violence and robbery.
"A Government is an organization in a specific geographic location which is dominant in physical force. Government is necessary to ensure the
proper use of force.
"For this reason, it must specify objective laws to clarify the use of force, and it must have the ability to enforce these laws.
"The purpose of government is to protect the
individual rights of its citizens.
"Since rights can be assaulted both within a country or outside of it, the government must deal with either threat. This requires an army for defense of the country, and a police system to protect the individual citizens from other individuals within the country.
"To ensure that rights are upheld properly, the judgment of the use of force must be objective. Since individuals involved in an incident are not likely to be objective, it is the government's job to judge the individual use of force by its citizens. For this reason, the government must provide a court system.
"Laws are the tools by which the court decides if a use of force is valid or not."
http://www.importanceofphilosophy.com/Politics_NecessityOfGovernment.html
For the last few thousand years those who write the laws have been controlled by the rich; states that don't authorize the privatization of profit and socialism of losses are possible.