Actually, that's a rather severe simplification of "what taxes are," but for the sake of discussion, let's roll with it. (or roll it out..and shape it in a pan, and fill it with apples, and bake it..yum!)
Do I personally want free pie, which my neighbor baked? No, I don't think so, and I think that very few people engaged in our ongoing policy debates want that--just like I'd guess that very few people engaged in policy debates are actually advocating a zero-tax policy.
But.. that's not really what taxation is (taking your neighbor's pie for free, outside the confines of the larger social contract, for no purpose but your own greed and with no recompense). What I would propose for the pie-taking exercise, and what has generally been considered ethical, and within the confines of social contracts that do uphold human rights and dignity, takes on, I'd say, a different character:
I have a pie. My neighbor has a pie. There's about five or six more houses all around us, all with a pie. We need a road in front of our houses, so we can go visit the internet cafe, but none of us has the road-making expertise. So let's all take a slice of our pies and give them to the guy with the paving machine.
We also need to make sure the roads stay in good shape, so we've got to give him another slice of pie every year.
We also (and this, I think, is where it gets uncomfortable for some people) need a way to make sure we all always give up a slice of our pie, so we all give another small slice to the guy who's going to go around and make sure we all give some pie.
We saw what happened that one year when it was entirely voluntary, how everyone figured the others would chip in, and no one did, and the road fell into disrepair.
So we not only need to pay for things collectively that none of us could realistically pay for on our own (one big part of the social contract), we also need to account for human nature and hire an enforcer (another big part of the social contract, and the one that makes people uncomfortable) to keep everyone accountable to that same social contract.
Do I want your pie? No. Do I want us all to chip in and pay with our pies for necessary services? Yes.
Very few people, I think, would argue with the need to pay for necessary services collectively. What constitutes a necessary service changes over time, though, and that's why we have an ongoing political dialogue. If these problems were so simple to solve that the answers could fit on bumper stickers, we'd have solved them long ago. But they're not, and that's why we'll never stop having these discussions, and rolling these ideas around in our heads.
best,