He signed a law expanding the health care regulations and requiring Americans to buy medical insurance, which I suppose you could classify as socialism-lite; although public decency and child abuse laws already require families to buy clothes and food, and nobody complains much about those. But when it comes to tax policy and redistribution, a not-insignificant part of modern democratic socialism, it's fair to say that President Obama is in the running for worst socialist in history.
I bolded what I thought was the great point. The gov't forces everyone to do all sorts of things. The ones he mentions is one of the more important ones. A few other off the top of my head are; you also have to send your kids to school, you have to drive at certain speeds, not kill or harm other people, pay even 1% of taxes, and any number of things that no one really complains about.
So when people say they oppose the mandate because the gov't can't force them to do something they are just factually wrong. What they mean to say is that the gov't can't force them to do this specific thing because it crosses some sort of line. And once you acknowledge that we are just arguing over differences in degree. We aren't arguing over the difference between freedom and tyranny. I get that people use inflamed rhetoric in order to try and make their point more effectively. But the reality is much different than the rhetoric. And if that was acknowledged perhaps more constructive policies would get passed.