Government is voluntary
Relationship to government is voluntary.
The anti-big-government American revolution, the founding documents and the framework of the Republican form of government established were all intended to make the individual free of control and intervention in his private life.
Substantial power was given to the new national government to regulate commerce.
The government of the “United States” has merely made every part of the individual’s life a matter of “commerce” through such things as licenses and the social security account opened for each person.
The easy way to tell if something is voluntary is — does the government request a signature from you? A signature is part of a contract, and you enter into a business (commerce) relationship with government by signing such things as a driver license, vehicle registration, business license, and IRS tax form.