If you have put capital into the company, and assuming you did not loan it to the company but simply provided capital, you can track that in "capital accounts" in your accounting software, and then as profits are made you can withdraw that money, without any tax consequences, up to the amount you have contributed to the company. For any amount above contributions taxes must be paid. The corporation must pay corporate tax on any of the revenue it received, with exception to any deductions that match up, etc.
If you have only provided sweat equity and are taking a draw against the income of the business, you must pay taxes on that income, in addition to the corporate tax (double taxation as you mentioned).
In most cases, startups seem to be keeping as much money in the business and taking as small of a draw as possible. This is for a variety of reasons: avoiding double taxation while the business is young, having more capital available for growing the business, having more money available for investing than would be available if you drew the cash and took the tax hit, etc.
But remember, people have to eat, and need a roof over their heads. Unhappy miserable people probably lend to lower productivity; some people would probably say the opposite, that uncomfortable unhappy situations make a person more jazzed up to "get things done" but I don't personally like that form of motivation.
It makes a lot of sense to hire an accountant, specifically one that understands startups if possible. Sure, you could figure out all the technicalities of running the books on your own, and then managing the tax filings, but it's more complicated than personal taxes, and you're risking your startup legally. Also, these guys know what they are doing and can knock it out of the park, letting you focus on what you do best -- building your startup.