Volunteers Vs Robin Hood

How could voluntary arrangements solve the problem of taxing the rich to help the poor if the state did not impose the politics of plunder?  When you tax the rich to give to the poor, you take are taking the hard-earned money of the more successful and hard-working people and giving it to the not-so-successful or not-so-hard-working people.  It sounds like a really nice thing to do, but it takes away the freedom of the “rich” to choose whether or not they want to give to the “poor.”  The “rich” would probably give to lots of “poor” people, but they should be free to choose who they want to help.  Very few people are going to just watch others suffer and not do anything to help.  Most people are happy to help when they see others in need.  The government does not have to be the one to take care of everyone because, contrary to “popular belief,” rich people aren’t just stuck-up jerks who want to keep all the money for themselves.