Taxes are important to almost everyone. Emergency services, infrastructure, roads (as long as councils allow their maintenance and doesn't skip over them), healthcare and medical research in some countries (not USA of course), education (though I do have a private education), and the military to protect the country from threats (or expand borders), we all benefit from having not free stuff, but stuff which is provided for us. It's really not much different from paying anyone else to give us stuff. Carbon tax is an example of tax done wrong, since it forces people to contribute to something they might already contribute to. Researching penguins isn't for everyone's interest, so we probably shouldn't pay for it. And the government cannot just simply generate money, even with paper notes.
And also, I would argue that some taxes aren't best left for federal government, but are better for state, or local governments to maintain, but we still contribute.
And benefits are important for those who can't give. Who are at the bottom of the economic ladder, whose steps are leaps at the bottom. It gives a financial safety net. It's not always efficient for everyone, since there is a lot of poverty. But, then again, people who gain less pay less tax. Rich people pay much more because they gain more. They're not economic parasites, they're people who struggle to make a living. Capitalism, if you're at the bottom, is hostile. Doesn't make Capitalism the worst thing, but it is flawed. People might live in areas where employment is bust. Where the only way to get around is work your ass off, or risk breaking the law by illicit practices (for example selling drugs).
A perfect world can be free of tax, but we don't live in a perfect world.