man made laws are not voluntary in any way. They are commands of compliance, which are always backed by the threat of violence, in not out-right violent behavior. Man made laws are arbitrary decrees of a ruling class, calling themselves government who are believed to possess a magical right to rule their subjects.
Understanding that such a system is entirely based in behavior that is coercive, violent and immoral. That this entire Machine system is designed to bring human behavior into compliance with the will of a dominating ruling class, we can arrive at the simple undeniable truth that government is slavery.