Taxes are not theft, but a membership fee. Its perks are roads, fire department, schools, laws and law enforcement, protection from foreign armies and basically keeping the society together.
Complete highway robbery.
I do agree that the idea of taxation is not theft, but at what point does it become so? If you look at all those aspects that you point out, would you say that the taxes are well spent? The other issue here is that the people in question don't even live in the US, and thus don't make use of those services (and probably don't want their money to be used on foreign wars, as well. Just an educated guess).
In addition, about 50% of the federal budget these days is Social Security+Medicare+Medicaid. Most of the things you listed are paid from local/state taxes, which are much smaller. Two thirds of the federal budget goes to pensions, welfare and military expenses. Roads, laws and law enforcement aren't where the bulk of taxes goes.