Pro 29:14 The king that faithfully judgeth the poor, his throne shall be established for ever.
Dan 4:27 Wherefore, O king, let my counsel be acceptable unto thee, and break off thy sins by righteousness, and thine iniquities by shewing mercy to the poor; if it may be a lengthening of thy tranquillity.
Jer 22:15 Shalt thou reign, because thou closest [thyself] in cedar? did not thy father eat and drink, and do judgment and justice, [and] then [it was] well with him?Jer 22:16 He judged the cause of the poor and needy; then [it was] well [with him: was] not this to know me? saith the LORD.
Rom 13:3 For rulers are not a terror to good works, but to the evil. Wilt thou then not be afraid of the power? do that which is good, and thou shalt have praise of the same: Rom 13:4 For he is the minister of God to thee for good. But if thou do that which is evil, be afraid; for he beareth not the sword in vain: for he is the minister of God, a revenger to [execute] wrath upon him that doeth evil. Rom 13:5 Wherefore [ye] must needs be subject, not only for wrath, but also for conscience sake. Rom 13:6 For for this cause pay ye tribute also: for they are God's ministers, attending continually upon this very thing. Rom 13:7 Render therefore to all their dues: tribute to whom tribute [is due]; custom to whom custom; fear to whom fear; honour to whom honour.
While rulers can be evil and such rulers have to be dealt with. Generally scripture clear supports rulers and tells us to pay tributes and dues. It does not say that such taxes are theft.
When such taxes are duly voted upon by the elected representatives of "We the People", how do people accuse those whom scripture calls God's ministers of theft?
“how do people accuse those whom scripture calls God’s ministers of theft?”
Simple. When they steal, it’s theft.