This argument is highly misleading. Libertarians complain about the quality of the public services all the time. They complained about congestion on roads, the high expenses of hospitals due to emergencies law, and police that spend way too much time chasing drug dealers rather than providing actual security.
They are taking money by force. You pay your taxes, or you go to jail. You don't have any option of not driving on roads, not getting emergencies care services, and so on.
It is by laws that emergency services will be provided for you, regardless of your ability to pay. It is by government mandates that create all these roads that we drive on. Your security is not provided by a local milita but by a professional army.
That is the cost of giving up your freedom. It's freedom that I wouldn't want to give up. Because a large enough government to give everything you want is large enough to take it away.
The French revolution history lecture by my history professor is enough to change my very reason of being a libertarian from idealism to never again resolve.