No, not because it's legal - because it's collectively agreed upon to be a necessary thing. That it's legal is a result of that - you're mixing cause and effect.

The idea that collective agreement dictates morals is flawed and dangerous.

And the idea that only individual rights matter, and that people don't have a duty to others, is also flawed and dangerous. As with pretty much everything else, the solution is somewhere in the middle that doesn't suit extremist slogans very well.

The notion that tax is theft is absurd.