You say "Oh, yeah, sure, you took my car while my back was turned. I'd rather collect on the insurance"
Which is pretty much what I think you'd say after a couple of beers anyway.
That still doesn't give me a good title to your car. Something else is required.
Nice try.
Now why don't we just take that further?
You leave your car in parking lot, you pay for use of the parking lot. Your car is under the protection of the guys that run the parking lot. If someone takes your car from that parking lot, that is theft.
On the other hand, you drop a $50 note on the street, someone comes along and sees it and picks it up, that is NOT theft. If the guy tries to return the money, and the alleged ownder refuses to take the money back, it becomes abandoned property, and the money reverts to the guy that found the money.
Get it?