"Taxation is theft" is perhaps more common, but specifically it's more like extortion: the state sends you a bill (or automatically takes it), and threatens harm if you don't pay. When the mob does this—even if they say they're providing "protection"—we call it extortion.
Taxation is necessarily theft. It can be nothing else.
Related: NoSpecialPleadingForTheState.
See also: The Gun in the Room.