You can help them personally, not just the somebody else's money.
>You literally had homes burning down because people didn't pay into the right fire fighter service to put out their homes.
You left out many details. For example many people actually used fires to cook. And then there are accounts of fire departments starting fires off on purpose to justify their existence. And why shouldn't people be held responsible for their own fire safety, just like everything else? [For the records - I have lived in places with no fire department and 911 service]
Real question for you: what cumulative[*] tax rate on your income would you be comfortable with for the services that you are currently getting?
* cumulative = income tax + property tax+ sales tax + all other taxes
Libertarianism sounds great on paper and always falls apart in reality the moment a community grows in size and the individual can't match the good provided by the collective.