We're not slaves because we choose the level to tax ourselves at and presumably we're free to leave whenever we want. Its more like a condo complex with a ridiculously high HOA fee. You gotta pay it if you live in the building, but nothing is stopping you from getting on the owners board and voting yourself a lower fee, or moving to a different building.
Taxes are theft precisely because we don't tax ourselves. In America, taxes are set by the majority choosing to not tax themselves very much and instead to tax a rich minority. It's two foxes and a chicken voting on what to have for dinner.
The minority nonetheless choose to participate in that group vote. Moreover, they often do so before they become rich, and only complain about the outcome after they reap the benefits of participating in that society.
