If I offer Joe a job at $2.00 an hour, which is less than the minimum wage, and Joe wants to accept the job, then I have forced Joe to live close to poverty or to work multiple jobs?
The offer is voluntary. Joe can either accept it or refuse it.
Why doesn't Joe get to say whether he's willing to accept the job or not? I'd say that the government is the entity introducing the use of force into what was otherwise a voluntary situation.