Remember, what is withheld from your paycheck isn't necessarily what your tax rate is. When you file, if you get a refund your tax rate is lower, if you owe it's higher. That's why you should base it off your tax forms and not your paycheck.
You can figure out your effective federal tax rate quite easily. On form 1040, divide line 60 (your total tax liability) by line 37 (your adjusted gross income, before deductions, exemptions, etc.). That's the percentage of your income you pay in federal income taxes. If you used another form other than 1040 it might be in different spots, but you get the idea.
Now, you still may feel you pay too much in taxes, but at least you'll be looking at an accurate picture.
For example, for DH and I (no kids and no deductions or credits other than mortgage interest, state income tax, property tax, and charitable contributions) our marginal rate is 25%, that is to say that's the top income bracket for us. But our effective rate, the actual percentage of our income that goes to federal income tax, is 10.28%. If we had kids, it would be even less. I don't think that's an unreasonable amount, myself.
Now there's SS and Medicare. Personally I don't look at those the same way as income tax, because when I'm 65 I start getting what I paid in back. YMMV but that's how I feel about it. Sure it's money out of my check, but when I'm 65 I'm guaranteed a check and health care. Now there is plenty of room to disagree about the programs themselves, the fixes they'll need done the road, etc. but at the end of the day, we do get direct benifit from what we pay in.
State taxes, last year was 3%, this year is 5% (IL raised taxes to help cover the budget deficit). DH and I are okay with that, 5% is still pretty low, we think.
Property taxes, well...I don't mind the amount I pay so much ($4300 on a 1300 sqft house) but I wish we had better public schools. For what we pay I think the schools in my district should be way, way better than they are. As far as taxes are concerned, that's my biggest beef.
Thankfully, I haven't had to inherit anything so I can't comment on the inheritance taxes.
Now that's just DH and I. We see the value in our taxes. We like clean air, clean water, safe skies, safe food, safe work places, national parks, the Smithonians, the national highway system, and the biggest and best military in the world. All those things cost money, and we're willing to pay our share. Other people may feel differently. That's cool, it's part of living in a free society. That isn't to say there isn't wasteful spending, of course there is and we don't like any more than anyone else. There are many changes we'd like to see. But the bad stuff we don't like doesn't negate the good stuff we do like.