It almost always requires violence to create a state, and at the very least, it does require the capacity for violence. A State has a violence on monopoly and the ability to defend itself from anyone else who says, "You are part of my State/Country/Kingdom".

If you could hire a private army, or maybe an army of pirates, Seasteading would work. But you have to pay them. Conquerors often paid armies by charging taxes to the lands they conquered, placing them in debt. The solders who were injured and missing arms/legs got their reward by collecting taxes and maintaining the taken land.

The book Debt: The First 5,000 Years, goes into this concept in great detail. Another book in this genre is The Dictators Handbook.