Taxation is based on the idea that the government provides you with certain "services", the nature and quality of which government decides - military protection, police protection, health services, postal service, roads, etc. And that you have to pay for these services, whether you want them or need them, at the price government decides, and at whatever quality government tells you is "sufficient.
It is also based on the idea that your income belongs to government, and that government decides how much of your salary you receive as an allowance.
What I just described is a protection racket.