Fortunately for you an anarcho-capitalist will allow you to have this opinion. a minarchist (i.e. classical libertarian) though will use the violence of government to impose their opinions on you. Sure maybe they won't impose all of their opinions on you, just the ones that they think are really, really important. Of course which ones are the important opinions are a matter of debate and will be put up to popular vote...which is how we ended up with the system we have right now.
Thats what you don't realize, todays system is the end product of minarchy. Given enough time, there is government creep into what the "essential duties" are meant to be. Sure it might start off as military defense against foreign invaders, but that creeps slowly over time to include things like stopping foreign spies from entering the country and eventually to domestic spying to catch said spies. Voila, you support the NSA and domestic spying.
I would have to agree with you. Its a problem that happens with every form of government. But, unless humans evolve to respect each others property and rights, its the best thing we got. I think you can imagine a world without it.
I agree that it does seem like humanity needs to evolve morally, but there is another option. Instead of forcing people to participate, create a voluntary system that people seek out on their own. Offer a quality service like any good business does and people won't have to be tracked down to pay taxes, they will bring you their money to keep your services going.
The mental hurdle to get over is that if someone doesn't want your services (e.g. military protection or healthcare), then you have to allow them to leave your system. If you offer a quality product that they really want, then you'll attract paying customers.
Now you're probably thinking that nobody is going to pay to have an aircraft carrier and a hundred tanks sitting idle waiting for the Russians to invade north america. Maybe thats because it's not what the future of humanity will be. I don't think the Russians or Chinese really ever plan on taking over Iowa and Kansas, so it's probably time to decommission all those expensive weapons. Thats how a free market determines what services are really needed in the world.