How can you guys not logically extrapolate the data out in your heads to realize that a socialist system is always going to be less efficient and higher priced than a competitive system? It just freaking amazes me. Is it really that hard to run both systems in your head and see which one makes the most sense? Is it really that hard to read the history of both sides and see which one is the clear winner? It just amazes me how stupid people really are, even on this forum, and how religiously they will protect that stupidity. Sit down in a quiet room, read a book on both sides, think about it honestly and objectively, and discover which one will make the lives of everyone better at the lower cost.
Here's the problem sir. People do not want to live in a world based on serving all of their needs using pure market based capitalism because they recognize that efficiency != access. They want to live in one where everyone gets access to minimal security, basic education, and health care regardless of means. They want to live in one where the state has a role (perhaps limited) to provide these things. They are willing to make a trade off in terms of some possible efficiency in cost for greater access. And in representative democracy, thats how things work.
A significant purely market based Anarcho capitalist society does not exist on planet earth anywhere. Some of you may think it would be utopia. I don't, I think a world with medicare and food stamps is better, however less efficient those programs might be at the present time. This is not to stay that I appreciate the state influenced Frankenstein monsters that our housing market, education, and health care systems have become (instead I wish for better systems like those I see in other countries).
Yet I know people who make use of these services, and I know how little they have and how little they get from them. I think in envisioning your Utopia you have lacked the imagination to consider the side effects that the society would suffer as a result of not having a state based safety net. Your security costs would be sky high, and walking through the cities would be a lot less fun. Regardless though, all you can do is imagine this society BECAUSE IT DOES NOT EXIST ANYWHERE. If you want to go build your floating islands I wish you all the best. I will be expecting said islands to be overtaken by pirates very quickly.
The market HAS NOT served everyone well. Bill Gates has devoted his massive fortune to getting low cost drugs to developing nations. Until he began that work, millions more people died from diseases that have been wiped in industrial nations. He said that he was surprised how poorly the market served these people. You should not have to die an easily preventable death solely because you did not win the birth lottery, believing that you should makes you an asshole.
On the topic at hand, since the first response will be about "forcing people to provide services", taxation (that which makes it so the services are provided freely) is not theft. Theft involves taking property involuntarily. You can freely opt out anytime of all of your local societal obligations, and please don't let the door hit you on the way out. Your voluntary residence in "insert your country here" is a voluntary agreement on your part to submit to the laws of "insert your country here". Therefore taxation is not theft.