There is physical violence, and then there is coercion - getting your way through an implicit or explicit threat of violence. Once you've whipped your slave enough, and he knows he can't get away, there is decreasing need to actually whip him. Progress, of a sort.

I'm not really on board with his whole anarchist shtick, but I do like Stefan Molyneux's "The Story of Your Enslavement". Society as the Human Farm, with human farmers extracting value out of human livestock. The evolution of Human Farming over time is particularly interesting. We're now largely a free range herd, relative to historical slaves.
https://www.youtube.com/watch?v=Xbp6umQT58A

He probably should update this for all the government enabled rent seeking, instead of just taxes. I think we're way beyond the Mafia model, to a Mafia coop with an increasing number of stakeholders fighting for their cut, where the mechanisms for butchering and dividing the meat consume and destroy increasing amounts of the meat.

When my frustration with the control and rent seeking gets to me, I let out a little "Moo". Frustration is only the result of denying the facts of reality. I am livestock, hear me Moo.

Say it with me now:
Moo.

Now didn't that feel better?