I understand that perspective, but to me it doesn't change the very nature of the act of taking someone's property without their consent.
Example:
I take your wallet out of your pocket and remove your money. You protest, but I threaten to bring men with guns and put you in a cage if you resist. Later, I buy you a nice sandwich with your own money.
It's still theft.
Doing something "good" with the money (and many, many bad things with it also, btw) doesn't change the nature of someone's property being taken against their consent. This is one of the many reasons I'm so passionate about blockchain technology and DACs. I want the world to enjoy service providers because I believe all human interactions should be voluntary. Yes, some countries have things worse that others, but that does not give any individual (no matter what costume they wear or ritual they want through to represent a government agency) the right to take the property of another individual.
To me, the key is building systems where we can take care of those who can't take care of themselves and do it voluntarily and efficiently. That's the future. Systems based on threats of force are archaic. I feel we can do better.